中文摘要：

针对小型无人机航迹规划中难以满足自身性能约束和实时性要求的问题，将飞行环境中的威胁分为可穿越威胁和不可穿越威胁；基于序列规划思想，采用粒子群优化算法规划基准航迹，采用改进的稀疏A^＊算法进行在线航迹规划。为提高在线航迹规划效率，将三维航迹规划转化为二维水平面规划和高度规划，仿真实验验证了该算法能够生成三维可行航迹，且规划时间显著减少。

英文摘要：

In order to solve the problem that the route planning of the small unmanned aerial vehicle （UAV） can hardly satisfy the constraint of itself and the requirements of the real-time planning, the threats in the environment are separated into passable threats and impassable threats. Based on the sequential program- ming, a reference route is planned using particle swarm optimization and a real-time route is planned using the modified sparse A^＊ algorithm. To improve the efficiency of the route planning, 313 route planning is trans- formed into 2D horizontal route planning and height planning. Simulation results demonstrate that the proposed method could obtain a feasible 3D route, and the planning time is highly reduced.