一、无人机模型简介：
单个无人机三维路径规划问题及其建模_IT猿手的博客-CSDN博客
参考文献：
[1]胡观凯,钟建华,李永正,黎万洪.基于IPSO-GA算法的无人机三维路径规划[J].现代电子技术,2023,46(07):115-120
二、高尔夫优化算法GOA简介
高尔夫优化算法（Golf Optimization Algorithm，GOA）由Montazeri Z等人于2023年提出，该算法模拟高尔夫运动过程中的球员击打高尔夫所采取的战术策略，能够有效平衡全局搜索和局部搜索的能力。
多目标优化算法：基于非支配排序的高尔夫优化算法（NSGOA）MATLAB-CSDN博客
参考文献：
[1] Montazeri Z, Niknam T, Aghaei J, Malik OP, Dehghani M, Dhiman G. Golf Optimization Algorithm: A New Game-Based Metaheuristic Algorithm and Its Application to Energy Commitment Problem Considering Resilience. Biomimetics. 2023; 8(5):386. Biomimetics | Free Full-Text | Golf Optimization Algorithm: A New Game-Based Metaheuristic Algorithm and Its Application to Energy Commitment Problem Considering Resilience
三、高尔夫优化算法GOA求解无人机路径规划
（1）部分代码
close all
clear
clc
addpath('./Algorithm/')%添加算法路径
warning off;
%% 三维路径规划模型定义
global startPos goalPos N
N=2;%待优化点的个数(可以修改)
startPos = [10, 10, 80]; %起点(可以修改)
goalPos = [80, 90, 150]; %终点(可以修改)
SearchAgents_no=30; % 种群大小(可以修改)
Function_name='F1'; %F1:随机产生地图 F2：导入固定地图
Max_iteration=50; %最大迭代次数(可以修改)
% Load details of the selected benchmark function
[lb,ub,dim,fobj]=Get_Functions_details(Function_name);
[Best_score,Best_pos,curve]=GOA(SearchAgents_no,Max_iteration,lb,ub,dim,fobj);%算法优化求解
AlgorithmName='GOA';%算法名字
figure
semilogy(curve,'Color','r','linewidth',3)
xlabel('迭代次数');
ylabel('飞行路径长度');
legend(AlgorithmName)
display(['算法得到的最优适应度: ', num2str(Best_score)]);
Position=[Best_pos(1:dim/3); Best_pos(1+dim/3:2*(dim/3)); Best_pos(1+(2*dim/3):end)]'; %优化点的XYZ坐标（每一行是一个点）
plotFigure(Best_pos,AlgorithmName)%画最优路径（2）部分结果
无人机飞行路径坐标：
1.0000000e+01 1.0000000e+01 8.0000000e+01
1.1820429e+01 1.0571462e+01 8.1472989e+01
1.3550647e+01 1.1085750e+01 8.2868815e+01
1.5193235e+01 1.1545531e+01 8.4189899e+01
1.6750774e+01 1.1953473e+01 8.5438661e+01
1.8225847e+01 1.2312246e+01 8.6617520e+01
1.9621034e+01 1.2624518e+01 8.7728897e+01
2.0938916e+01 1.2892956e+01 8.8775212e+01
2.2182075e+01 1.3120229e+01 8.9758885e+01
2.3353092e+01 1.3309007e+01 9.0682335e+01
2.4454549e+01 1.3461955e+01 9.1547984e+01
2.5489026e+01 1.3581745e+01 9.2358249e+01
2.6459105e+01 1.3671043e+01 9.3115553e+01
2.7367367e+01 1.3732517e+01 9.3822314e+01
2.8216394e+01 1.3768838e+01 9.4480953e+01
2.9008766e+01 1.3782671e+01 9.5093889e+01
2.9747066e+01 1.3776687e+01 9.5663543e+01
3.0433874e+01 1.3753553e+01 9.6192335e+01
3.1071772e+01 1.3715938e+01 9.6682685e+01
3.1663341e+01 1.3666510e+01 9.7137012e+01
3.2211163e+01 1.3607937e+01 9.7557737e+01
3.2717817e+01 1.3542888e+01 9.7947279e+01
3.3185887e+01 1.3474031e+01 9.8308059e+01
3.3617953e+01 1.3404034e+01 9.8642497e+01
3.4016596e+01 1.3335567e+01 9.8953013e+01
3.4384399e+01 1.3271296e+01 9.9242026e+01
3.4723941e+01 1.3213891e+01 9.9511956e+01
3.5037805e+01 1.3166020e+01 9.9765225e+01
3.5328571e+01 1.3130350e+01 1.0000425e+02
3.5598821e+01 1.3109552e+01 1.0023145e+02
3.5851137e+01 1.3106292e+01 1.0044926e+02
3.6088099e+01 1.3123239e+01 1.0066007e+02
3.6312289e+01 1.3163062e+01 1.0086633e+02
3.6526288e+01 1.3228429e+01 1.0107044e+02
3.6732677e+01 1.3322008e+01 1.0127484e+02
3.6934038e+01 1.3446468e+01 1.0148193e+02
3.7132953e+01 1.3604477e+01 1.0169413e+02
3.7332001e+01 1.3798702e+01 1.0191388e+02
3.7533765e+01 1.4031814e+01 1.0214358e+02
3.7740826e+01 1.4306480e+01 1.0238566e+02
3.7955766e+01 1.4625368e+01 1.0264254e+02
3.8181164e+01 1.4991146e+01 1.0291663e+02
3.8419604e+01 1.5406484e+01 1.0321036e+02
3.8673666e+01 1.5874049e+01 1.0352615e+02
3.8945931e+01 1.6396509e+01 1.0386642e+02
3.9238981e+01 1.6976534e+01 1.0423358e+02
3.9555396e+01 1.7616791e+01 1.0463007e+02
3.9897759e+01 1.8319949e+01 1.0505829e+02
4.0268651e+01 1.9088676e+01 1.0552066e+02
4.0670652e+01 1.9925641e+01 1.0601962e+02
4.1106345e+01 2.0833511e+01 1.0655757e+02
4.1578310e+01 2.1814956e+01 1.0713694e+02
4.2089128e+01 2.2872643e+01 1.0776015e+02
4.2641382e+01 2.4009241e+01 1.0842961e+02
4.3237652e+01 2.5227418e+01 1.0914776e+02
4.3880520e+01 2.6529842e+01 1.0991700e+02
4.4572567e+01 2.7919183e+01 1.1073975e+02
4.5316374e+01 2.9398108e+01 1.1161845e+02
4.6114522e+01 3.0969285e+01 1.1255550e+02
4.6969593e+01 3.2635383e+01 1.1355333e+02
4.7884168e+01 3.4399071e+01 1.1461436e+02
4.8860829e+01 3.6263016e+01 1.1574100e+02
4.9902156e+01 3.8229887e+01 1.1693569e+02
5.1010732e+01 4.0302353e+01 1.1820083e+02
5.2189136e+01 4.2483081e+01 1.1953884e+02
5.3439952e+01 4.4774740e+01 1.2095216e+02
5.4765759e+01 4.7179999e+01 1.2244319e+02
5.6169139e+01 4.9701525e+01 1.2401436e+02
5.7652674e+01 5.2341987e+01 1.2566809e+02
5.9218944e+01 5.5104054e+01 1.2740679e+02
6.0870532e+01 5.7990393e+01 1.2923290e+02
6.2610017e+01 6.1003674e+01 1.3114882e+02
6.4439983e+01 6.4146564e+01 1.3315697e+02
6.6363009e+01 6.7421732e+01 1.3525979e+02
6.8381678e+01 7.0831846e+01 1.3745968e+02
7.0498570e+01 7.4379574e+01 1.3975907e+02
7.2716267e+01 7.8067586e+01 1.4216038e+02
7.5037350e+01 8.1898548e+01 1.4466602e+02
7.7464401e+01 8.5875130e+01 1.4727842e+02
8.0000000e+01 9.0000000e+01 1.5000000e+02四、完整MATLAB代码
