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O2:% ;,26./DE/C3% -2-GE/.&:% !323;/H.5D%.,-G.3-4/B.&G/0F&D%9/04.&F%PLQQ-51038 ,2C37&4',% 9% 17&'/./.&&% F% A,;,G/% 12,.&739,.&:% 1-4/D% ;2:% +XYV% '3H.3% 17&'/.&46% ;3132.&4/26.3/% 0C2,H&9,.&/% 1-4&8% .,17&'/78% .,% 30.39/% 012,D.39( #,FH/% -2-GE/.&>% 7/A-264,4,% '3H/4% 01303=04939,46% 1/7/B3;% F% ;93D049/..3'-% C7,J-8% 9% F34373'% 9% F,G/049/% 9/7E&.% 9504-1,>4% 139/7B.304&% F3.4,F4,% 030/;.&B% F2,04/7398% ,% 7@=7,'&% :92:>40:% 0,'&% F2,04/75( I% K43'% 02-G,/% 9/0% 7@=/7% C7,J,% =-;/4% 43G.//% 03349/404939,46% '/47&F/% 173047,.049,( #,F,:%'3;&J&F,<&:8%3;.,F38%/?@%./%7/,2&A39,.,( F.)/+=$&)0-*'05*1 1. Lavalle S.M. Rapidly-exploring random trees: A new tool for path planning. Computer Science Department, Iowa State University. Technical Report: 98–11, 1998. 2. Evolutionary Algorithm Based On-Line Path Planner for UAV Navigation / A.N. Kostaras, I.K. Nikolos, N.C. Tsourveloudis, K.P. Valavanis // Proceedings of the 10th Mediterranean Conference on Control and Automation, 2002. 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W7&?/.F3 V(X(8% W,.,4.&F39 V()(8% #F,G/9 L(+(% X2,.&739,.&/ 173047,.049/..3C3 7,A93734, =/01&234.3C3 2/4,4/26.3C3 ,11,7,4, hh% I/04.&F% !"#$% &'(% )(*(% +,-',.,(% *./7C/4&G/0F3/% &% 47,.01374.3/% ',E&.30473/.&/(% L1/<&,26.5D% 951-0F( 2011. C. 151163. 9. W7&?/.F3 V(X(8% W,.,4.&F39 V()(8% #F,G/9 L(+(% O31-04&'5/% 173047,.049/..5/% 47,/F437&&% =/01&234.3C3% 2/4,4/26.3C3% ,11,7,4,% 9% 9/74&F,26.3D% 1230F304&% hh% ),-F,% &% 3=7,A39,.&/(% !"#$% &'(% )(*(% +,-',.,(% *2/F473.(% H-7.(% a_Za( g% b% [/H&'% ;304-1,R% http://technomag.edu.ru/dijhbkQQad(lmno%M;,4,%3=7,?/.&:%ak(Z_(a_ZaN. http://sntbul.bmstu.ru/doc/551948.html