中文摘要：

针对目前航迹规划代价函数权值确定时所存在的不足之处，通过建立航迹代价函数，构造航迹代价函数中各因素的模型，然后利用层次分析法来减小人为确定权值所带来的不利影响；最后在分水岭分割算法所建立的规划空间的基础上，运用遗传算法进行搜索，选取常用的权值与用层次分析法所得到的权值的航迹代价进行比较分析，说明这种确定权值的方法能有效地降低人的主观因素的影响，所规划出的路径更加安全，合理。

英文摘要：

In order to solve the problem of giving the path planning cost function＇s weight values, path planning cost function and it＇ s element is established; Then, the Analytic Hierarchy Process is used to reduce the influence of weight values that is given by man. Eventual- ly, based on the space of path planning which is built in watershed segmentation, paths is obtained by GA algorithm. It is proved effective through the contrast with choosing the weight values usually and gaining form the Analytic Hierarchy Process. This method of confirming the weight values could reduce the influence of man＇s subjectivity. So the planning path is safety and in reason.