针对飞行器在线航迹规划问题展开研究,提出了一种实时航迹搜索算法。该方法将飞行器的运动与航迹搜索结合在一起,可以有效地调节搜索的时间,满足在线实时应用的要求。通过在限定的时间内扩大寻优范围,该算法可以有效地避免不可行区域,并使生成的航迹更加优化。实验结果表明,算法能有效地处理各种航迹约束,实时地生成满意的三维航迹。 Aiming at the problem of aircraft flight path planning, a real-time flight path search algorithm is proposed. The method combines the movement of the aircraft with the flight path search, which can effectively adjust the search time and meet the requirements of online real-time applications. By expanding the optimization range within a limited time, the algorithm can effectively avoid unfeasible regions and optimize the generated trajectories. Experimental results show that the algorithm can effectively deal with various track constraints and generate satisfactory three-dimensional tracks in real time.