Multi-constraints UAV path planning based on grid PRM
ZENG Guo-qi1, ZHAO Min-qiang2, LIU Fang-yuan2, DING Wen-rui1
Systems Engineering and Electronics . 2016, (10): 2310 -2316 .  DOI: 10.3969/j.issn.1001-506X.2016.10.13