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中文摘要：
针对无人作战飞机在动态不确定环境中任务执行的路径规划问题，提出了一种基于突发任务的路径规划方法。在单机路径规划中，通过建立Voronoi有向图，并根据Dijkstra算法为每架无人作战飞机寻找最优、次优路径，针对路径规划中的多目标攻击和协同的问题，设计了—种多目标攻击任务规划器，结合突发任务的情况，给出了多目标攻击蓑略。仿真的结果表明所提方法是可行的。
英文摘要：
For the path planning of multiple Unmanned Combat Aerial Vehicles （UCAVs） engaged in tasks in an uncertain and dynamic environment, a path planning method based on pop-up mission was proposed. Initially, according to the Voronoi directed graph and Dijkstra algorithm, each UCAV planned its own original optimal and/or sub-optimal paths. To study the ways of multi-target and cooperative attack in path planning, a task module based on multi-target attacking was designed. Lastly, combined with pop-up mission, the muM-target attacking strategy was introduced. Simulation results demonstrate the feasibility of the approach.
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