中文摘要：

针对无人机航路规划空间建模和规划算法的设计问题，研究了地理地形、敌方雷达和禁避飞区等约束条件的建模问题；针对规划空间较大时，Ⅳ算法规划时间长信息存储量大这一问题，将规划分为两步，应用A^＊算法进行离线规划生成预规划航路，以预规划航路作为参考选择局部目标点进行在线规划；为了使得规划航路满足无人机的机动性能约束，利用3次B样条曲线对航路进行平滑处理。仿真结果表明。该算法性能优于稀疏A^＊算法，适用于无人航路规划的工程应用。

英文摘要：

The model of the terrains,enemy radars and no-fly zones for UAV path planning are researched firstly. To reduce the high computational requirements of the original A＊ algorithm,a new A＊ algorithm is presented, which designs the offline paths by a given cost, then chooses some local points on the offline paths for online planning. In order to satisfy the maneuverability of the air vehicle the paths are smoothed by Cubic B-Spline curves. Simulation results show that the computational requirements are lower than the Sparse A＊ algorithm and it can meet engineering demand.