Thus, three-dimensional flight path optimization planning can be changed into two-dimensional flight path planning on the surface of minimum risk.

建立最小威胁曲面，将三维航路规划问题分解为两个二维的优化问题，最后使用蚁群算法进行全局航路规划。

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Thus, three-dimensional flight path optimization planning can be changed into two-dimensional flight path planning on the surface of minimum risk.

建立最小威胁曲面，将三维航路规划问题分解为两个二维的优化问题，最后使用蚁群算法进行全局航路规划。

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