本篇論文主旨在於建立及驗證無人飛機路徑規劃系統。無人飛機路徑規劃透過考量地形資料誤差、GPS定位誤差、安全要求以及無人飛機本身效能，建立一能確保安全且低消耗的無人飛機任務路徑。整合GPS、無限傳輸模組、飛控系統與地面站後，由無人飛機系統去追蹤演算法所建立之任務路徑驗證。

A flight path planning system is built and verified in an unmanned aerial vehicle (UAV) in this thesis. Considering of the terrain data error, safety requirement, GPS positioning error and UAV performance, the proposed flight path planning determines a flight path and guarantees the safe flight in low cost. By integrating with GPS and communication modem into an open source autopilot, a UAV system performs flight path tracking to verify the flight path planning system from ground control station.

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