【摘要】 针对低空飞行的无人机在执行任务途中所面临的不确定威胁问题，采用多属性决策方法，通过选取合适的威胁评估属性、基于威胁隶属函数对各威胁属性进行量化处理、确定权重值并利用逼近理想的排序法来确定威胁体的威胁程度，并根据人工势场法对威胁进行动态规避，最后采用仿真平台进行验证。实验结果表明，无人机能准确地对航迹中所遇到的不确定威胁根据评估结果进行动态规避，提高了无人机的安全性。更多还原

【Abstract】 This paper addresses the issue of uncertain threat faced by low altitude unmanned aerial vehicles(UAVs) during mission by adopting a multi-attribute decision making approach, The appropriate threat evaluation attributes are selected, quantified using threat membership functions, and assigned weight value. The technique for order preference by similarity to ideal solution(TOPSIS) is utilized to determine the degree of threat. The threat is then dynamically avoided using the artificial potential field method. A simulation platform is used to verify and analyse the results. The experimental findings demonstrate that the UAV can effectively evade uncertain threats encountered during the flight path, thereby enhancing UAV safety.更多还原