adj. collisionless
空间中等离子体是无碰撞的。
路径规划也是一个很复杂的问题，不仅要寻求一条无碰撞的最短路径，而且还要求该路径尽可能平滑并满足一定的安全性。
Path planning also a complex problem that not only guarantees a collision-free path with minimum traveling distance but also requires smoothness and clearances.
在建立前视声呐视域模型和人工势场模型的基础上，对AUV进行决策控制，通过梯度逼近法对目标进行搜索，快速规划出一条无碰撞的路径。
On the basis of building forward looking sonar view model and artificial potential model, decision control of AUV is made, objects are searched through grads approach, a collision free path is planed.
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