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中文摘要：
为了解决突发威胁情况下无人作战飞行器的智能自主航路规划问题，应用变结构自适应参数离散动态贝叶斯网络进行突发威胁时飞行器的突防方向进行选择，给出了模型的建立方法和参数的自适应产生方法，并将类爬山快速搜索算法应用于飞行器改变飞行路径的情况下的实时航路规划，并进行了仿真。仿真结果表明，该方法能够满足飞行器突发威胁下的实时规避威胁和实时航路重规划的要求。
英文摘要：
In order to decide the flying route for the unmanned flying vehicles when the threaten break out, by the architecture varied discrete dynamic Bayesian network, modeled the decision process of path selection for the unmanned flying vehicles when the threaten break out, presented the modeling mothod and the parameters generation way of the architecture varied discrete dynamic Bayesian network, and use the climber like fast search algorithm to optimize the selected path, and simulated the process mentioned above. The simulation result implied that using the mothod presented in this paper can satisfy the reqirment of the real time threaten avoding and the real time path replanning when the threaten break out.
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