中文摘要：

根据战场环境中威胁的种类及特性,建立了威胁模型,描述了威胁范围与威胁概率的关系;在对具有时间敏感性任务的无人机进行航迹规划时,根据无人机任务的时间限制,结合无人机的性能参数,采用适当增加风险代价,来满足任务时间要求的方法,改进了A＊搜索算法,将A＊算法的代价估价函数设置为与时间相关的函数,采用变步长搜索策略,通过判断是否满足任务时间要求,确定出将要优先扩展的节点,仿真结果表明该算法能够快速规划出满足任务时间约束条件的航迹。

英文摘要：

According to the kind and the characteristic of threats in the battle area environment.the model of threats was built,described The relation of threat extent and threat probability.when route planning for UAV with time restriction was did,According to the time limit of UAV＇ mission,combine performance parameter of UAV,the method was adopted that through add to suitable threat cost to fulfilling mission time limit,A＊ algorithm was improved,the cost valuation function of A＊ algorithm was designed that be related to time,the variable step strategy was used,determining the node that will be prior extend by judge whether satisfy mission time require,The result of the simulation shows that the method was able to quickly plan the route that was meet mission time restriction.