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Online route plan￾ning for UAV based on model predictive control and particle swarm optimization algorithm[C]//2012 10th World Congress on Intelligent Control and Automation (WCICA). Beijing, China, 2012: 397–401. [18] 钱积新, 赵均, 徐祖华. 预测控制[M]. 北京: 化学工业出 版社, 2007. QIAN Jixin, ZHAO Jun, XU Zuhua. Predictive control [M]. Beijing: Chemical Industry Press, 2007. [19] KHATIB O. Real-time obstacle avoidance for manipulat￾ors and mobile robots[J]. The international journal of ro￾botics research, 1986, 5(1): 90–98. [20] CORMEN T H, LEISERSON C E, RIVEST R L, et al. In￾troduction to algorithms[M]. 3rd ed. Cambridge: MIT Press, 2009. [21] DE BERG M, CHEONG O, VAN KREVELD M, et al. Computational Geometry: Algorithms and Applications [M]. 3rd ed. Berlin Heidelberg: Springer, 2008. [22] 作者简介： 王文彬，男，1991 年生，硕士研究 生，主要研究方向为航迹规划、机器 学习。 ·532· 智 能 系 统 学 报 第 13 卷