Threat equivalent and improved PSO algorithm based real-time method of UCAV route planning
TANG Shang-qin, HUANG Chang-qiang，HU Jie, WU Wen-chao
Journal of Systems Engineering and Electronics . 2010, (8): 1706 -1710 .  DOI: 10.3969/j.issn.1001-506X.2010.08.33