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Author’s Note
🔊 Author Introduction: Graduate student from a 985 university, researcher and developer in the field of MATLAB;
🚅SeatRightInscription: Those who travel a hundred miles are halfway there.✅Business Scope: Complete code, paper reproduction, program customization, journal writing, research collaboration
🏆CodeAcquisitionMethod: MATLAB Poseidon Code Acquisition Method
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MATLAB Path Planning (Advanced Version)
Introduction
📋📋📋 The contents of this article are as follows: 🎁🎁🎁
Table of Contents
💥1 Overview
📚2 Code and Running Steps
🎉3 Running Results
🌈4 MATLAB Version and References
🔎5 Code Acquisition Method
🍅6 Simulation Consultation
1 Overview
See CSDN Poseidon with the same title
**1 Transient Triangular Harris Hawks Optimization (TTHHO) Overview** The Transient Triangular Harris Hawks Optimization (TTHHO) is an improved version of the Harris Hawks Optimization (HHO), combining triangular search mechanisms and transient response strategies to solve drone path planning problems in complex mountainous environments. Its core is to simulate the hunting behavior of Harris hawks (exploration, siege, attack), combined with dynamic terrain obstacle avoidance and hazard assessment, to generate globally optimal paths. — **2 Complex Mountain Hazard Model Construction** **Terrain Hazard Quantification** Using Digital Elevation Models (DEM) and obstacle distribution data, the hazard function is defined as:
\[ H(x,y) = w_1 \cdot \text{Height}(x,y) + w_2 \cdot \text{Slope}(x,y) + w_3 \cdot \text{Obstacle}(x,y) \] where \( w_1, w_2, w_3 \) are weight coefficients corresponding to elevation, slope, and obstacle density. **Dynamic Threat Field Modeling** Introducing dynamic factors such as wind speed and thunderstorms, the instantaneous threat probability distribution is described using a Gaussian Mixture Model (GMM):
\[ P_{\text{threat}}(x,y,t) = \sum_{i=1}^k \alpha_i \mathcal{N}(\mu_i, \Sigma_i) \] where \( \alpha_i \) is the mixture weight, and \( \mu_i \) and \( \Sigma_i \) are the mean and covariance of the dynamic threat. — **3 TTHHO Path Planning Process** **Initialization Phase** Randomly generate the initial population of drones \( X = \{x_1, x_2, …, x_N\} \), where each path \( x_i \) consists of a series of waypoints, aiming to minimize the total cost function:
\[ f(x_i) = \lambda_1 \cdot \text{Length}(x_i) + \lambda_2 \cdot \sum H(x,y) + \lambda_3 \cdot \text{Smoothness}(x_i) \] **Transient Triangular Search Mechanism** Introduce the triangular search strategy during the siege phase to update the hawk positions:
\[ x_{\text{new}} = x_{\text{prey}} + \Delta t \cdot (r_1 \cdot \vec{AB} + r_2 \cdot \vec{AC}) \] where \( \vec{AB} \) and \( \vec{AC} \) are triangular vectors, \( \Delta t \) is the transient time step, and \( r_1, r_2 \) are random coefficients. **Dynamic Obstacle Avoidance and Convergence** Control the balance between exploration and exploitation through an adaptive energy factor \( E \):
\[ E = 2E_0 \left(1 – \frac{t}{T_{\max}}\right) \] When \( |E| \geq 1 \), perform global search; otherwise, make local fine adjustments to the path. — **4 Algorithm Advantages** – **Triangular Search Mechanism**: Enhances global exploration capability in complex terrains, avoiding local optima. – **Transient Response**: Dynamically adjusts search step size, quickly adapting to sudden threats. – **Multi-objective Optimization**: Integrates path length, hazard cost, and smoothness to ensure flight safety. Note: In practical applications, real-time sensor data should be combined to update the hazard model and validate the algorithm’s performance on simulation platforms (such as Gazebo or MATLAB).
2 Code and Running Steps
2.1 Partial Code2.2 Running Steps
(1) Directly run main.m to generate the graph with one click
3Running Results
4MATLAB Version and References
1 MATLAB Version
2019b
2 References
[1] Zhou Deyun, Xu Jian, Huang He. Multi-drone path planning based on improved genetic algorithm [J]. Aviation Computing Technology. 2009
3 Note
Introduction to this section is excerpted from the internet for reference only. If there is any infringement, please contact for removal.
5 Code Acquisition Method
CodeAcquisitionMethod: MATLAB Poseidon Code Acquisition Method
6 Simulation Consultation
**🍅 Simulation Consultation
1 Various intelligent optimization algorithm improvements and applications**
1.1 PID Optimization
1.2 VMD Optimization
1.3 Distribution Network Reconstruction
1.4 3D Packing
1.5 Microgrid Optimization
1.6 Layout Optimization
1.7 Parameter Optimization
1.8 Cost Optimization
1.9 Charging Optimization
1.10 Scheduling Optimization
1.11 Price Optimization
1.12 Departure Optimization
1.13 Allocation Optimization
1.14 Coverage Optimization
1.15 Control Optimization
1.16 Inventory Optimization
1.17 Routing Optimization
1.18 Design Optimization
1.19 Location Optimization
1.20 Absorption Optimization
1.21 Site Selection Optimization
1.22 Operation Optimization
1.23 Assignment Optimization
1.24 Combination Optimization
1.25 Workshop Scheduling
1.26 Production Scheduling
1.27 Economic Scheduling
1.28 Assembly Line Scheduling
1.29 Reservoir Scheduling
1.30 Cargo Position Optimization
1.31 Bus Scheduling Optimization
1.32 Container Ship Loading Optimization
1.33 Pump Combination Optimization
1.34 Medical Resource Allocation Optimization
1.35 Visual Field Base Station and Drone Site Selection Optimization
**2 Machine Learning and Deep Learning Classification and Prediction**
**2.1 Machine Learning and Deep Learning Classification**
2.1.1 BiLSTM Bidirectional Long Short-Term Memory Neural Network Classification
2.1.2 BP Neural Network Classification
2.1.3 CNN Convolutional Neural Network Classification
2.1.4 DBN Deep Belief Network Classification
2.1.5 DELM Deep Learning Extreme Learning Machine Classification
2.1.6 ELMAN Recurrent Neural Network Classification
2.1.7 ELM Extreme Learning Machine Classification
2.1.8 GRNN General Regression Neural Network Classification
2.1.9 GRU Gated Recurrent Unit Classification
2.1.10 KELM Hybrid Kernel Extreme Learning Machine Classification
2.1.11 KNN Classification
2.1.12 LSSVM Least Squares Support Vector Machine Classification
2.1.13 LSTM Long Short-Term Memory Network Classification
2.1.14 MLP Multi-Layer Perceptron Classification
2.1.15 PNN Probabilistic Neural Network Classification
2.1.16 RELM Robust Extreme Learning Machine Classification
2.1.17 RF Random Forest Classification
2.1.18 SCN Stochastic Configuration Network Model Classification
2.1.19 SVM Support Vector Machine Classification
2.1.20 XGBOOST Classification
**2.2 Machine Learning and Deep Learning Prediction**
2.2.1 ANFIS Adaptive Neuro-Fuzzy Inference System Prediction
2.2.2 ANN Artificial Neural Network Prediction
2.2.3 ARMA Autoregressive Moving Average Model Prediction
2.2.4 BF Particle Filter Prediction
2.2.5 BiLSTM Bidirectional Long Short-Term Memory Neural Network Prediction
2.2.6 BLS Broad Learning System Prediction
2.2.7 BP Neural Network Prediction
2.2.8 CNN Convolutional Neural Network Prediction
2.2.9 DBN Deep Belief Network Prediction
2.2.10 DELM Deep Learning Extreme Learning Machine Prediction
2.2.11 DKELM Regression Prediction
2.2.12 ELMAN Recurrent Neural Network Prediction
2.2.13 ELM Extreme Learning Machine Prediction
2.2.14 ESN Echo State Network Prediction
2.2.15 FNN Feedforward Neural Network Prediction
2.2.16 GMDN Prediction
2.2.17 GMM Gaussian Mixture Model Prediction
2.2.18 GRNN General Regression Neural Network Prediction
2.2.19 GRU Gated Recurrent Unit Prediction
2.2.20 KELM Hybrid Kernel Extreme Learning Machine Prediction
2.2.21 LMS Least Mean Squares Algorithm Prediction
2.2.22 LSSVM Least Squares Support Vector Machine Prediction
2.2.23 LSTM Long Short-Term Memory Network Prediction
2.2.24 RBF Radial Basis Function Neural Network Prediction
2.2.25 RELM Robust Extreme Learning Machine Prediction
2.2.26 RF Random Forest Prediction
2.2.27 RNN Recurrent Neural Network Prediction
2.2.28 RVM Relevance Vector Machine Prediction
2.2.29 SVM Support Vector Machine Prediction
2.2.30 TCN Temporal Convolutional Network Prediction
2.2.31 XGBoost Regression Prediction
2.2.32 Fuzzy Prediction
2.2.33 Singular Spectrum Analysis Method SSA Time Series Prediction
**2.3 Machine Learning and Deep Learning Practical Application Prediction**
CPI index prediction, PM2.5 concentration prediction, SOC prediction, financial warning prediction, yield prediction, parking space prediction, pest prediction, strip steel thickness prediction, battery health status prediction, power load prediction, housing price prediction, corrosion rate prediction, fault diagnosis prediction, photovoltaic power prediction, trajectory prediction, aircraft engine lifespan prediction, exchange rate prediction, concrete strength prediction, heating furnace temperature prediction, price prediction, traffic flow prediction, resident consumption index prediction, air quality prediction, grain temperature prediction, temperature prediction, clear water value prediction, unemployment rate prediction, electricity consumption prediction, transportation volume prediction, manufacturing purchasing manager index prediction
**3 Image Processing Aspects**
**3.1 Image Edge Detection**
**3.2 Image Processing**
**3.3 Image Segmentation**
**3.4 Image Classification**
**3.5 Image Tracking**
**3.6 Image Encryption and Decryption**
**3.7 Image Retrieval**
**3.8 Image Registration**
**3.9 Image Stitching**
**3.10 Image Evaluation**
**3.11 Image Denoising**
**3.12 Image Fusion**
**3.13 Image Recognition**
3.13.1 Dial Recognition
3.13.2 Lane Line Recognition
3.13.3 Vehicle Counting
3.13.4 Vehicle Recognition
3.13.5 License Plate Recognition
3.13.6 Parking Space Recognition
3.13.7 Size Detection
3.13.8 Answer Sheet Recognition
3.13.9 Appliance Recognition
3.13.10 Fall Detection
3.13.11 Animal Recognition
3.13.12 QR Code Recognition
3.13.13 Invoice Recognition
3.13.14 Clothing Recognition
3.13.15 Chinese Character Recognition
3.13.16 Traffic Light Recognition
3.13.17 Iris Recognition
3.13.18 Fire Detection
3.13.19 Disease Classification
3.13.20 Traffic Sign Recognition
3.13.21 Card Number Recognition
3.13.22 Mask Recognition
3.13.23 Crack Detection
3.13.24 Target Tracking
3.13.25 Fatigue Detection
3.13.26 Flag Recognition
3.13.27 Grass Recognition
3.13.28 Face Recognition
3.13.29 Renminbi Recognition
3.13.30 ID Card Recognition
3.13.31 Gesture Recognition
3.13.32 Digit and Letter Recognition
3.13.33 Palm Recognition
3.13.34 Leaf Recognition
3.13.35 Fruit Recognition
3.13.36 Barcode Recognition
3.13.37 Temperature Detection
3.13.38 Defect Detection
3.13.39 Chip Detection
3.13.40 Behavior Recognition
3.13.41 CAPTCHA Recognition
3.13.42 Medicinal Material Recognition
3.13.43 Coin Recognition
3.13.44 Postal Code Recognition
3.13.45 Playing Card Recognition
3.13.46 Fingerprint Recognition
**3.14 Image Restoration**
**3.15 Image Compression**
**3.16 Image Steganography**
**3.17 Image Enhancement**
**3.18 Image Reconstruction**
**4 Path Planning Aspects**
**4.1 Traveling Salesman Problem (TSP)**
4.1.1 Single Traveling Salesman Problem (TSP)
4.1.2 Multiple Traveling Salesman Problem (MTSP)
**4.2 Vehicle Routing Problem (VRP)**
4.2.1 Vehicle Routing Problem (VRP)
4.2.2 Capacitated Vehicle Routing Problem (CVRP)
4.2.3 Capacitated + Time Window + Distance Vehicle Routing Problem (DCTWVRP)
4.2.4 Capacitated + Distance Vehicle Routing Problem (DCVRP)
4.2.5 Distance Vehicle Routing Problem (DVRP)
4.2.6 Vehicle Routing Problem with Charging Stations + Time Windows (ETWVRP)
4.2.3 Vehicle Routing Problem with Multiple Capacities (MCVRP)
4.2.4 Distance Multi-Vehicle Routing Problem (MDVRP)
4.2.5 Simultaneous Pickup and Delivery Vehicle Routing Problem (SDVRP)
4.2.6 Vehicle Routing Problem with Time Windows + Capacities (TWCVRP)
4.2.6 Vehicle Routing Problem with Time Windows (TWVRP)
**4.3 Multimodal Transport Problem**
**4.4 Robot Path Planning**
4.4.1 Obstacle Avoidance Path Planning
4.4.2 Maze Path Planning
4.4.3 Grid Map Path Planning
**4.5 Delivery Path Planning**
4.5.1 Cold Chain Delivery Path Planning
4.5.2 Takeout Delivery Path Planning
4.5.3 Mask Delivery Path Planning
4.5.4 Medicine Delivery Path Planning
4.5.5 Delivery Path Planning with Charging Stations
4.5.6 Chain Supermarket Delivery Path Planning
4.5.7 Vehicle Collaborative Drone Delivery Path Planning
**4.6 Drone Path Planning**
4.6.1 Aircraft Simulation
4.6.2 Drone Flight Operations
4.6.3 Drone Trajectory Tracking
4.6.4 Drone Swarm Simulation
4.6.5 Drone 3D Path Planning
4.6.6 Drone Formation
4.6.7 Drone Collaborative Tasks
4.6.8 Drone Task Allocation
**5 Speech Processing**
**5.1 Speech Emotion Recognition**
**5.2 Sound Source Localization**
**5.3 Feature Extraction**
**5.4 Speech Coding**
**5.5 Speech Processing**
**5.6 Speech Separation**
**5.7 Speech Analysis**
**5.8 Speech Synthesis**
**5.9 Speech Encryption**
**5.10 Speech Denoising**
**5.11 Speech Recognition**
**5.12 Speech Compression**
**5.13 Speech Hiding**
**6 Cellular Automata Aspects**
**6.1 Cellular Automata Virus Simulation**
**6.2 Cellular Automata Urban Planning**
**6.3 Cellular Automata Traffic Flow**
**6.4 Cellular Automata Gas**
**6.5 Cellular Automata Personnel Evacuation**
**6.6 Cellular Automata Forest Fire**
**6.7 Cellular Automata Game of Life**
**7 Signal Processing Aspects**
**7.1 Fault Signal Diagnosis Analysis**
7.1.1 Gear Damage Identification
7.1.2 Asynchronous Motor Rotor Broken Bar Fault Diagnosis
7.1.3 Rolling Element Inner and Outer Ring Fault Diagnosis Analysis
7.1.4 Motor Fault Diagnosis Analysis
7.1.5 Bearing Fault Diagnosis Analysis
7.1.6 Gearbox Fault Diagnosis Analysis
7.1.7 Three-Phase Inverter Fault Diagnosis Analysis
7.1.8 Diesel Engine Fault Diagnosis
**7.2 Radar Communication**
7.2.1 FMCW Simulation
7.2.2 GPS Anti-jamming
7.2.3 Radar LFM
7.2.4 Radar MIMO
7.2.5 Radar Angle Measurement
7.2.6 Radar Imaging
7.2.7 Radar Localization
7.2.8 Radar Echo
7.2.9 Radar Detection
7.2.10 Radar Digital Signal Processing
7.2.11 Radar Communication
7.2.12 Radar Phased Array
7.2.13 Radar Signal Analysis
7.2.14 Radar Early Warning
7.2.15 Radar Pulse Compression
7.2.16 Antenna Radiation Pattern
7.2.17 Radar Clutter Simulation
**7.3 Biological Electrical Signals**
7.3.1 Electromyography (EMG)
7.3.2 Electroencephalography (EEG)
7.3.3 Electrocardiography (ECG)
7.3.4 Heart Simulation
**7.4 Communication Systems**
7.4.1 DOA Estimation
7.4.2 LEACH Protocol
7.4.3 Encoding and Decoding
7.4.4 Variational Mode Decomposition
7.4.5 Ultra-Wideband Simulation
7.4.6 Multipath Fading Simulation
7.4.7 Cellular Networks
7.4.8 Pipeline Leakage
7.4.9 Empirical Mode Decomposition
7.4.10 Filter Design
7.4.11 Analog Signal Transmission
7.4.12 Analog Signal Modulation
7.4.13 Digital Baseband Signals
7.4.14 Digital Channels
7.4.15 Digital Signal Processing
7.4.16 Digital Signal Transmission
7.4.17 Digital Signal Denoising
7.4.18 Underwater Acoustic Communication
7.4.19 Communication Simulation
7.4.20 Wireless Transmission
7.4.21 Bit Error Rate Simulation
7.4.22 Modern Communication
7.4.23 Channel Estimation
7.4.24 Signal Detection
7.4.25 Signal Fusion
7.4.26 Signal Recognition
7.4.27 Compressed Sensing
7.4.28 Noise Simulation
7.4.29 Noise Interference
**7.5 Drone Communication**
**7.6 Wireless Sensor Localization and Layout Aspects**
7.6.1 WSN Localization
7.6.2 Height Estimation
7.6.3 Filter Tracking
7.6.4 Target Localization
7.6.4.1 Dv-Hop Localization
7.6.4.2 RSSI Localization
7.6.4.3 Intelligent Algorithm Optimization Localization
7.6.5 Integrated Navigation
**8 Power System Aspects**
Microgrid Optimization, Reactive Power Optimization, Distribution Network Reconstruction, Energy Storage Configuration