无人机航迹规划：部落竞争与成员合作算法（Competition of tribes and cooperation of members algorithm，CTCM）求解无人机路径规划MATLAB

一、无人机模型介绍

单个无人机三维路径规划问题及其建模_无人机路径规划场景建模-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、部落竞争与成员合作算法求解无人机路径规划

部落竞争与成员合作算法（Competition of tribes and cooperation of members algorithm，CTCM）由 Chen Zuyan等人于2024年提出的一种智能优化算法。该算法受古代部落之间竞争及其合作行为的启发而得。
参考文献：
[1]Zuyan Chen, Shuai Li, Ameer Tamoor Khan, Seyedali Mirjalili,
Competition of tribes and cooperation of members algorithm: An evolutionary computation approach for model free optimization,
Expert Systems with Applications,Volume 265,2025,125908,ISSN 0957-4174,
https://doi.org/10.1016/j.eswa.2024.125908.
                        
原文链接：https://blog.csdn.net/weixin_46204734/article/details/144927619

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='F2'; %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]=AlgorithmName(SearchAgents_no,Max_iteration,lb,ub,dim,fobj);%算法优化求解
figure
semilogy(curve,'Color','g','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

无人机航迹点三维坐标：

   1.0000000e+01   1.0000000e+01   8.0000000e+01
   1.2356092e+01   1.3089916e+01   8.2633876e+01
   1.4633535e+01   1.6057460e+01   8.5169214e+01
   1.6833924e+01   1.8905325e+01   8.7608107e+01
   1.8958856e+01   2.1636202e+01   8.9952649e+01
   2.1009924e+01   2.4252784e+01   9.2204932e+01
   2.2988726e+01   2.6757765e+01   9.4367050e+01
   2.4896858e+01   2.9153836e+01   9.6441095e+01
   2.6735914e+01   3.1443691e+01   9.8429161e+01
   2.8507490e+01   3.3630021e+01   1.0033334e+02
   3.0213183e+01   3.5715519e+01   1.0215573e+02
   3.1854588e+01   3.7702878e+01   1.0389841e+02
   3.3433300e+01   3.9594791e+01   1.0556349e+02
   3.4950916e+01   4.1393949e+01   1.0715306e+02
   3.6409031e+01   4.3103046e+01   1.0866920e+02
   3.7809241e+01   4.4724774e+01   1.1011402e+02
   3.9153142e+01   4.6261826e+01   1.1148960e+02
   4.0442328e+01   4.7716894e+01   1.1279805e+02
   4.1678397e+01   4.9092671e+01   1.1404144e+02
   4.2862944e+01   5.0391850e+01   1.1522188e+02
   4.3997563e+01   5.1617122e+01   1.1634145e+02
   4.5083852e+01   5.2771181e+01   1.1740226e+02
   4.6123406e+01   5.3856719e+01   1.1840638e+02
   4.7117821e+01   5.4876428e+01   1.1935593e+02
   4.8068692e+01   5.5833002e+01   1.2025299e+02
   4.8977614e+01   5.6729132e+01   1.2109965e+02
   4.9846185e+01   5.7567512e+01   1.2189800e+02
   5.0675999e+01   5.8350834e+01   1.2265015e+02
   5.1468652e+01   5.9081791e+01   1.2335817e+02
   5.2225740e+01   5.9763074e+01   1.2402418e+02
   5.2948859e+01   6.0397377e+01   1.2465025e+02
   5.3639604e+01   6.0987392e+01   1.2523848e+02
   5.4299571e+01   6.1535812e+01   1.2579097e+02
   5.4930356e+01   6.2045329e+01   1.2630980e+02
   5.5533554e+01   6.2518637e+01   1.2679708e+02
   5.6110762e+01   6.2958426e+01   1.2725489e+02
   5.6663574e+01   6.3367391e+01   1.2768532e+02
   5.7193587e+01   6.3748224e+01   1.2809048e+02
   5.7702397e+01   6.4103616e+01   1.2847245e+02
   5.8191598e+01   6.4436261e+01   1.2883333e+02
   5.8662787e+01   6.4748852e+01   1.2917520e+02
   5.9117560e+01   6.5044080e+01   1.2950017e+02
   5.9557512e+01   6.5324639e+01   1.2981032e+02
   5.9984239e+01   6.5593221e+01   1.3010775e+02
   6.0399337e+01   6.5852519e+01   1.3039456e+02
   6.0804401e+01   6.6105224e+01   1.3067282e+02
   6.1201027e+01   6.6354031e+01   1.3094465e+02
   6.1590811e+01   6.6601630e+01   1.3121212e+02
   6.1975348e+01   6.6850716e+01   1.3147734e+02
   6.2356235e+01   6.7103980e+01   1.3174240e+02
   6.2735067e+01   6.7364115e+01   1.3200939e+02
   6.3113439e+01   6.7633813e+01   1.3228040e+02
   6.3492948e+01   6.7915768e+01   1.3255753e+02
   6.3875189e+01   6.8212671e+01   1.3284286e+02
   6.4261758e+01   6.8527216e+01   1.3313850e+02
   6.4654250e+01   6.8862094e+01   1.3344653e+02
   6.5054261e+01   6.9219999e+01   1.3376906e+02
   6.5463388e+01   6.9603622e+01   1.3410816e+02
   6.5883225e+01   7.0015658e+01   1.3446594e+02
   6.6315369e+01   7.0458797e+01   1.3484449e+02
   6.6761415e+01   7.0935733e+01   1.3524589e+02
   6.7222959e+01   7.1449158e+01   1.3567226e+02
   6.7701596e+01   7.2001765e+01   1.3612566e+02
   6.8198923e+01   7.2596247e+01   1.3660821e+02
   6.8716534e+01   7.3235295e+01   1.3712199e+02
   6.9256027e+01   7.3921603e+01   1.3766910e+02
   6.9818996e+01   7.4657863e+01   1.3825163e+02
   7.0407037e+01   7.5446768e+01   1.3887167e+02
   7.1021746e+01   7.6291010e+01   1.3953131e+02
   7.1664718e+01   7.7193281e+01   1.4023266e+02
   7.2337550e+01   7.8156275e+01   1.4097779e+02
   7.3041837e+01   7.9182684e+01   1.4176882e+02
   7.3779175e+01   8.0275200e+01   1.4260781e+02
   7.4551159e+01   8.1436517e+01   1.4349688e+02
   7.5359385e+01   8.2669326e+01   1.4443812e+02
   7.6205449e+01   8.3976320e+01   1.4543361e+02
   7.7090947e+01   8.5360192e+01   1.4648545e+02
   7.8017475e+01   8.6823634e+01   1.4759573e+02
   7.8986627e+01   8.8369339e+01   1.4876655e+02
   8.0000000e+01   9.0000000e+01   1.5000000e+02