Traditional planning mostly simulates threats in the plane,it couldn't truly show the influencing scope of threats,in order to enhance the security and stability of UAV during the flight and avoid the threats in the surroundings as far as possible,a trajectory planning method based on spatial merged threat is proposed,building a spatial merged threat model in the target zone,then analyzing and calculating,planning trajectory at last.The restrict of the spatial merged threat can lessen the number of nodes to extend effectively and raise the efficiency of the trajectory calculating.
trajectory planningthreat modelmarching cubessparse A *
国家科技期刊平台
NSTL
万方数据
维普
