Then a cooperative planning model was established, which could plan a feasible path for each UAV, which meeted both the requirements of time-coordination and the minimum cost.

然后建立协同模型，为各无人机规划出既能满足时间协同要求，又能满足整体代价最优的可行航迹。

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Then a cooperative planning model was established, which could plan a feasible path for each UAV, which meeted both the requirements of time-coordination and the minimum cost.

然后建立协同模型，为各无人机规划出既能满足时间协同要求，又能满足整体代价最优的可行航迹。

youdao