The invention provides a path
planning method based on UTMD
algorithm. The path
planning method based on the UTMD
algorithm comprises the steps that S1, an optimized
mathematical model of path planning is established; S21, an optimal solution search range of path planning is delineated; S2201, a plurality of
microbubbles are released in the optimal solution search range; S2202, the initial maximumnumber of transferring is equal to M, the initial maximum number of differentiation is equal to L, and the initial maximum number of binding variation is equal to N; S2203, microbubble transferring is carried out; S2204, the step S2203 is repeated until the number of microbubble transferring is equal to M; S2205, a target MiRNAs is released; and S2206, transferring, differentiation and binding variation of the target are carried out until the number of transferring, the number of differentiation and the number of binding variation separately satisfy the convergence conditions of transferring,differentiation and binding variation, and an optimal solution set of path planning is obtained. The UTMD (targeted microbubble destruction)
algorithm is used in the path
planning method to considerthe slope of a road, path planning is optimized in real time in the three-dimensional space, the iterative calculation and search time in the path
planning process are effectively reduced, a local optimal solution is prevented from appearing, and the optimization accuracy of path planning is improved.