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中文摘要：
在无人机低空飞行时，障碍物的形状大都不规则，很难建立其准确的解析模型；针对该问题．在栅格法的基础上提出了一种利用类三维地图进行路径规划的方法；首先阐述了类三维地图的创建方法，并提出了下降方向和驻点等概念；分析了在不规则障碍环境下进行路径规划时如何避免死锁以及提高规划效率；给出了算法的具体实现步骤；仿真结果表明，在不规则障碍物环境下此方法能迅速得到较好的规划结果。
英文摘要：
When the UAVs fly at a low ahilude, the obstacles are Irregularly shaped , it is difficult to establish their analytical model. To solve this problem, a route planning approach based on a three--dimensional--like map in grid space is proposed. First, the method with which the grid mapis transformed to a three--dimensional--like map is described, the concepts of the downward direction and the lransit poinl are proposed in addition. Then, the analysis of how to avoid deadlock and how to improve the planning efficiency in irregularly shaped obstacles environment are presented. The specific steps of the algorithm is given. Finally, simulation results show thai the planning approach can do well in irregular obstacle environment.
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