三维路径规划算法_蚁群算法实现_注释详细清晰_程序完整_matlab

clc clear h=[1800 2200 1900 2400 2300 2100 2500 2400 2700 2600 2900 1600 2000 2000 2600 2900 2000 2000 2500 2700 3000 2800 2100 1900 2000 1900 1700 2000 2000 2000 2000 2500 2900 1700 2000 2000 2000 1800 2000 2200 2000 2000 2000 2800 2200 1800 2000 3100 2300 2400 1800 3100 3200 2300 2000 1900 2100 2200 3000 2300 3000 3500 3100 2300 2600 2500 1700 1400 2300 2900 2400 2800 1800 3500 2600 2000 3200 2300 2500 2400 3100 3000 2600 3000 2300 3000 2500 2700 2000 2200 2100 2000 2200 3000 2300 2500 2400 2000 2300 2300 2200 2000 2300 2200 2200 2200 2500 2000 2800 2700 2000 2300 2500 2200 2200 2000 2300 2600 2000 2500 2000]; h=h-1400; [n,m]=size(h); for i=3:n+2 for j=3:n+2 H(i,j)=h(i-2,j-2); end end H(3:m+2,2)=(290*H(3:m+2,3)-366*H(3:m+2,4)+198*H(3:m+2,5)-38*H(3:m+2,6))/84; H(3:m+2,1)=(7211*H(3:m+2,3)-12813*H(3:m+2,4)+8403*H(3:m+2,5)-1919*H(3:m+2,6))/882; H(3:m+2,n+3)=-(21*H(3:m+2,n-1)-101*H(3:m+2,n)+177*H(3:m+2,n+1)-135*H(3:m+2,n+2))/38; H(3:m+2,n+4)=-(2079*H(3:m+2,n-1)-8403*H(3:m+2,n)+12013*H(3:m+2,n+1)-6411*H(3:m+2,n+2))/722; H(2,:)=(290*H(3,:)-366*H(4,:)+198*H(5,:)-38*H(6,:))/84; H(1,:)=(7211*H(3,:)-12813*H(4,:)+8403*H(5,:)-1919*H(6,:))/882; H(n+3,:)=-(21*H(n-1,:)-101*H(n,:)+177*H(n+1,:)-135*H(n+2,:))/38; H(n+4,:)=-(2079*H(n-1,:)-8403*H(n,:)+12013*H(n+1,:)-6411*H(n+2,:))/722; %二维四次卷积插值 [n,m]=size(h); D=[-21 59 -32 -48 61 -19 63 -261 386 -222 15 19 -63 366 -600 354 -57 0 21 -164 6 156 -19 0 0 0 240 0 0 0]; for i=1:10*(n-1) for j=1:10*(m-1) indexi=floor(i/10)+3; indexj=floor(j/10)+3; s=mod(i,10)*0.1; if j==100 indexj=indexj-1; end if i==100 indexi=indexi-1; end % if s==0 % indexi=indexi-1; % end t=mod(j,10)*0.1; % if t==0 % indexj=indexj-1; % end S=[s^4,s^3,s^2,s 1]; T=[t^4,t^3,t^2,t,1]; C=[H(indexi-2,indexj-2) H(indexi-2,indexj-1) H(indexi-2,indexj) H(indexi-2,indexj+1) H(indexi-2,indexj+2) H(indexi-2,indexj+3) H(indexi-1,indexj-2) H(indexi-1,indexj-1) H(indexi-1,indexj) H(indexi-1,indexj+1) H(indexi-1,indexj+2) H(indexi-1,indexj+3) H(indexi ,indexj-2) H(indexi ,indexj-1) H(indexi ,indexj) H(indexi ,indexj+1) H(indexi ,indexj+2) H(indexi ,indexj+3) H(indexi+1,indexj-2) H(indexi+1,indexj-1) H(indexi+1,indexj) H(indexi+1,indexj+1) H(indexi+1,indexj+2) H(indexi+1,indexj+3) H(indexi+2,indexj-2) H(indexi+2,indexj-1) H(indexi+2,indexj) H(indexi+2,indexj+1) H(indexi+2,indexj+2) H(indexi+2,indexj+3) H(indexi+3,indexj-2) H(indexi+3,indexj-1) H(indexi+3,indexj) H(indexi+3,indexj+1) H(indexi+3,indexj+2) H(indexi+3,indexj+3)]; HH(i,j)=S*D*C*D'*T'/57600; end end [n,m]=size(HH); x=1:n; y=1:m [xx,yy]=meshgrid(x,y); mesh(xx,yy,HH) xlabel('km') ylabel('km') zlabel('m') a =[ 50 600 65 600 50 600 40 600 30 800 30 600 35 800 35 600 35 800 25 800 30 1200 15 1200 20 1000 15 1000 30 1000 35 1200 35 1000 40 1000 30 1400 35 1600 40 1000]; b=[0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100]; hold on plot3(b',a(:,1)-2,a(:,2)+300,'-o','linewidth',2)