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中文摘要：
在复杂地形环境中，无人机在跟踪运动目标时，现有的航路规划方法在实时性和可行性上存在一定缺陷，提出了一种新的滚动窗口启发方向计算方法，使其能够跟踪运动目标，同时在滚动窗口内采用流函数法进行避障，根据无人机约束，滚动窗口为三角形，并设计了基于行为的伸缩功能，在流函数中，利用水势能方法克服了陷阱地形并进行了航路平滑，仿真结果表明：这种混合算法对于复杂地形条件下跟踪运动目标的航路规划，能够减小规划算法的时间和空间复杂度，使规划出的航路适于无人机飞行。
英文摘要：
In complex environments,when unmanned aerial vehicle（UAV） tracks a moving target,there are some defects on real-time capability and feasibility in the existing algorithm of path planning.A new heuristic direction of the rolling window was designed to make route search and track moving target.In the rolling window,the stream function was utilized for avoiding obstacle.To satisfy the constraints of UAV,the rolling window was triangle,also with adaptive function.In potential flows,a potential function was proposed to overcome the trap of terrain,and the route was smoothed.The simulation results show that this hybrid method could reduce the time and space complexity,and find a satisfactory route for UAV in complex environments when tracks moving target.
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