中文摘要：

传统航迹规划方法规划效率不高，且前次规划的中间结果不能为下次的规划复用．基于对路线图方法的分析，提出一种利用航迹片段进行航迹规划的新方法．该方法将航迹规划过程分解为时间独立的两个阶段：航迹片段规划和航迹重构．航迹片段规划阶段通过对二维空间的多尺度格网划分，采用FastMarching方法进行航迹片段端口设置和端口间的航迹片段规划；航迹重构阶段采用A＋搜索算法完成对片段端口的优化选择，从而选定航迹片段，并对片段组合而成的二维航迹进行拟合光顺以满足转弯机动约束．基于多尺度航迹片段的航迹规划新方法规划速度优势明显，航迹片段具有复用性，片段规划和航迹重构可分时操作，适于实时在线规划．

英文摘要：

Traditional route planning methods are not efficient, and the planed results cannot be reused in next planning course. Based on the analyzing of roadmap method, a new route planning method called route segment planning was proposed. It divides the route planning process into two phases in time inde- pendent way：route segment planning and route reconstruction. During the route segment planning phase, the 2D configuration space is divided into multi-scale grids, with Fast Marching Method, ports for route segments were set and the route segments between any two ports were planed;while in the course of route reconstruction,A~ searching method was used to choose the optimal segments to assemble 2D route by selecting the ports,and fitness of 2D route make it satisfied with curvature constraint. This new route plan- ning method base on route segment provided high planning speed and reusable route segments. The route segment planning and route reconstruction are finished in different time, which can be used in online real- time planning of a quick route planning.