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中文摘要：
提出改进的流函数法为无人机在复杂地形环境下进行航路规划。针对传统流函数法在多个障碍物航路规划时存在的问题,进行了理论分析,并给出一种虚拟动态目标的方法,解决了两个障碍物重叠情况的航路规划问题。为满足无人机的机动约束,将无人机自身的约束条件转化为虚拟障碍,以保证规划出的航路可飞。仿真结果表明,该方法能够在复杂地形条件下快速地为无人机规划出一条可飞的航路,具有较好的工程应用价值。
英文摘要：
An improved stream function method for UAV route planning in complex terrain was presented.Considering the problems existed in route planning of traditional stream function method,we made theoretical analysis and proposed a virtual dynamic target method,which could solve the route planning problem when two obstacles overlapping with each other.The UAV＇s maneuvering constraints were transformed into virtual obstacles,thus to guarantee that the route planned by the algorithm was flyable for the UAV.The simulation results showed that the method presented in the paper can plan a feasible route in complex terrain for UAV in a short time.
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