中文摘要：

现有航迹规划方法无法保证规划最优路径的同时满足实时性要求，因此文中提出基于文化算法的无人飞行器航迹规划算法．利用文化算法的特性，将在线航迹规划方法与离线航迹规划方法相结合，融入文化算法种群空间中．知识提取，将初始航迹提取为形势知识，将航迹中特征节点可变化范围提取为规范知识，使用知识限定规划空间，缩短规划时间．通过知识结合不同规划方法，弥补现有方法的缺点．实验验证文中算法在复杂动态环境下能有效寻找目标点，相比其它在线航迹规划方法，规划速度更快，规划航迹更短，有效减少飞行器执行任务的时间．

英文摘要：

The existing route planning methods can not meet the optimal path and real-time requirements simultaneously. A method based on cultural algorithm is proposed to solve the problem of unmanned aerial vehicle （UAV） online path planning. According to the characteristics of euhural algorithm, online route planning method is combined with offiine route planning method and they are fused into the population space of cultural algorithm. By extracting the knowledge, the situation knowledge is extracted from the initial path information, and the normative knowledge is recovered from the variation ranges of nodes. The planning space is limited by the knowledge and the time of planning is reduced. Different methods are combined to remedy the deficiencies of the existing methods. The experiment shows the proposed method searches target effectively in complex dynamic environments, and its planning speed is higher than that of other online route planning algorithms. Moreover, it can satisfy the real-time requirement, plan the shorter path and shorten the aircraft mission time.