飞行航路规划是一个大范围多目标多约束的三维规划问题。
Air route planning is a three-dimensional planning problem, with wide range, many objects and many constraints.
首先，根据飞行航路规划中导航点属性复杂的特点，扩充导航点的模型，并在此基础上采用导航点链表形式的自由编码。
Firstly, in respect of the complex attribute of navigating point in air route planning, it expands the model of navigating point and adopts free coding with the list of navigating point.
针对不同强度威胁源构成的飞行环境，提出了一种基于人工势场法和遗传算法相结合的无人机全局航路规划方法。
Based on the artificial potential field and genetic algorithms, a method of flight path planning for UAV in the threat network was proposed.
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