考虑飞行能耗的无人机三维路径规划：基于改进的椭圆切线图方法
张雅静, 吕伟, 杨晓婷, 杨婷, 王沐林, 李迪, 雷鹏
Three-dimensional path planning for UAVs considering flight energy consumption: An approach based on improved elliptic tangent maps
Yajing ZHANG, Wei LÜ, Xiaoting YANG, Ting YANG, Mulin WANG, Di LI, Peng LEI
清华大学学报（自然科学版）
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2026, (2): 257
-267
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DOI: 10.16511/j.cnki.qhdxxb.2025.22.039
