基于自适应大邻域启发式搜索的多无人机路径规划算法python代码.zip

#  <br> UAVS_Drone智能无人机路径规划仿真系统是一个具有操作控制精细、平台整合性强、全方向模型建立与应用自动化特点的软件。它以A、B两国在C区开展无人机战争为背景，该系统的核心功能是通过仿真平台规划无人机航线，并进行验证输出，数据可导入真实无人机，使其按照规定路线精准抵达战场任一位置，支持多人多设备编队联合行动。<br> UAVS_Drone Intelligent UAV path planning simulation system is a software with fine operation control, strong platform integration, omnidirectional model building and application automation. It takes the UAV war between A and B in Zone C as the background. The core function of the system is to plan the UAV route through the simulation platform and verify the output. The data can be imported into the real UAV to make it accurately arrive at any position in the battlefield according to the specified route and support the joint action of multi-person and multi-device formation. #### QQ交流1群：809473689（已满） #### QQ交流2群：774627310（已满） #### QQ交流3群：712810644 #### QQ交流4群：713783925 #### QQ交流5群：722396428 #### QQ交流6群：700903981 #### 加微信-进入交流群：wwy18795980897 ### [视频简介](https://www.yuque.com/u12074055/kb/qqkaw9) ### [Video Introduction](https://www.yuque.com/u12074055/kb/qqkaw9)<br> ### [安装手册](https://gitee.com/wwy2018/UAVS/blob/master/UAVS_InstructionManual.pdf) ### [Installation manual](https://gitee.com/wwy2018/UAVS/blob/master/UAVS_InstructionManual.pdf)<br> ## Main Features <br> System supported by open source SITL uav simulation platform, through FlightGear rendering real battlefield environment, integrated modeling, 2 d vertical, three-dimensional dynamic model simulation, script control, ground station monitoring, data processing, and other functions, in addition, the simulation system supports a variety of global map load, simulate the key region of the three dimensional environment, can be used throughout the global remote sensing monitoring in the scene. ### 1. Software Interface  ### 2. Software Architecture (plug-ins to be implemented for some extended functions)  ### 3. Code  ### 4. Multidimensional View #### Two-dimensional view (1)  #### Two-dimensional view (2)  #### 3d view  ### 5. UAV Control #### Console Control  #### Intelligent Control  #### Ground Station Control  ### 6. Set Flight Mission #### Flight Mission(1)  #### Flight Mission(2)  #### Flight Mission(3)  ### 7. Path planning The path algorithm is based on the redevelopment of Huiming Zhou's open source algorithm library (ZHM-Real /PathPlanning), adding elements such as UAV simulation, geographic coordinate conversion, and Leaflet visualization. #### Directory Structure<br> drone_PathPlanning. ├─fence.txt ├─leaflet_folium_plot.py ├─mission.waypoints │ ├─folium-0.12.1 │ ├─leaflet │ ├─results │ ├─Sampling_based_Planning │ ├─algorithm_mission_rrt2D │ │ algorithm_mission_batch_informed_trees.waypoints │ │ algorithm_mission_dubins_rrt_star.waypoints │ │ algorithm_mission_dynamic_rrt.waypoints │ │ algorithm_mission_extended_rrt.waypoints │ │ algorithm_mission_fast_marching_trees.waypoints │ │ algorithm_mission_informed_rrt_star.waypoints │ │ algorithm_mission_rrt.waypoints │ │ algorithm_mission_rrt_connect.waypoints │ │ algorithm_mission_rrt_star.waypoints │ │ algorithm_mission_rrt_star_smart.waypoints │ │ │ ├─indoor_obstacle_avoidance_rrt3D │ │ IOAPath_rrt3D.waypoints │ │ IOAPath_rrt_star3D.waypoints │ │ IOA_BIT_star3D.waypoints │ │ IOA_extend_rrt3D.waypoints │ │ │ ├─rrt_2D │ │ batch_informed_trees.py BIT*算法 │ │ draw.py │ │ dubins_path.py Dubins路径算法 │ │ dubins_rrt_star.py Dubins_rrt*算法 │ │ dynamic_rrt.py 动态RRT算法 │ │ env.py │ │ extended_rrt.py Extended_RRT算法 │ │ fast_marching_trees.py FMT*算法 │ │ informed_rrt_star.py Informed_rrt*算法 │ │ judge.py │ │ plotting.py │ │ queue.py │ │ rrt.py rrt算法 │ │ rrt_connect.py RRT_CONNECT算法 │ │ rrt_star.py rrt*算法 │ │ rrt_star_smart.py rrt*-Smart算法 │ │ utils.py │ │ __init__.py │ │ │ ├─rrt_2D_路径优化效果图 │ │ │ ├─rrt_3D │ │ ABIT_star3D.py │ │ BIT_star3D.py │ │ dynamic_rrt3D.py │ │ env3D.py │ │ extend_rrt3D.py │ │ FMT_star3D.py │ │ informed_rrt_star3D.py │ │ plot_util3D.py │ │ queueL.py │ │ rrt3D.py │ │ rrt_connect3D.py │ │ rrt_star3D.py │ │ utils3D.py │ │ │ └─rrt_3D_室内避障效果图 │ └─Search_based_Planning ├─algorithm_mission_Search2D │ algorithm_mission_Anytime_D_star.waypoints │ algorithm_mission_ARAstar.waypoints │ algorithm_mission_Astar.waypoints │ algorithm_mission_Best_First.waypoints │ algorithm_mission_bfs.waypoints │ algorithm_mission_Bidirectional_a_star.waypoints │ algorithm_mission_Bidirectional_dfs.waypoints │ algorithm_mission_Bidirectional_Dijkstra.waypoints │ algorithm_mission_Bidirectional_D_star.waypoints │ algorithm_mission_Bidirectional_D_star_Lite.waypoints │ algorithm_mission_Bidirectional_LPAstar.waypoints │ algorithm_mission_Bidirectional_LRTAstar.waypoints │ algorithm_mission_Bidirectional_RTAAStar.waypoints │ ├─indoor_obstacle_avoidance_Search_3D │ IOA_Anytime_Dstar3D.waypoints │ IOA_Astar3D.waypoints │ IOA_bidirectional_Astar3D.waypoints │ IOA_Dstar3D.waypoints │ IOA_DstarLite3D.waypoints │