中国科技核心期刊      中国指挥与控制学会会刊     军事装备类重点期刊
Command Control and Simulation
A Hierarchical Optimization Strategy of Trajectory Planning Based on Variable Step Size SAS and MPC for UAVs
BO Ning, LI Xiang-min, DAI Jin-jin, TANG Jia-yu
Command Control and Simulation . 2018, (2): 65 -71 .  DOI: 10.3969/j.issn.1673-3819.2018.02.012