Three-dimensional path planning refers to determining an optimal path in a three-dimensional space with obstacles, so that the path is as close to the target location as possible, while meeting some other constraints, including distance, altitude, threat area, flight time, energy consumption, and so on. Although the bald eagle search algorithm has the characteristics of simplicity, few control parameters, and strong global search capabilities, it has not yet been applied to complex three-dimensional path planning problems. In order to broaden the application scenarios and scope of the algorithm and solve the path planning problem in three-dimensional space, we present a study where five three-dimensional geographical environments are simulated to represent real-life unmanned aerial vehicles flying scenarios. These maps effectively test the algorithm's ability to handle various terrains, including extreme environments. The experimental results have verified the excellent performance of the BES algorithm, which can quickly, stably, and effectively solve complex three-dimensional path planning problems, making it highly competitive in this field.
Keywords: bald eagle search algorithm; metaheuristic; three-dimensional geographical environment; three-dimensional path planning.