中文摘要：

由于搜索空间巨大,三维航迹规划一直是航迹规划中的难点,而无人机只有进行精确的三维航迹规划才能提高低空突防的成功率。本文描述了无人机在线航路规划的影响因素,分析了无人机动力学约束及威胁场约束,探讨了无人机航路几何建模方法及三维航路规划算法的研究概况,并着重分析了三维航路规划算法如禁忌搜索、人工势场法、粒子群优化算法、Dijkstra算法及A＊算法。最后,阐述了无人机三维航路规划面临的关键问题及发展趋势。

英文摘要：

It is very difficult to implement 3-D route planning of Unmanned Air Vehicle （UAV） because of the huge searching space. Precise 3-D route planning can increase the success probability of an in low altitude penetration. This paper describes the factors of 3-D route planning, analyses UAV＇s dynamic constraints and the constraint of menace fields. It also discusses the algorithms of 3-D route planning and geometric modeling. The tabu search, artificial potential field method, particle swarm optimization algorithm, dijkstra algorithm and A algorithm art algorithm are particularly studied. Finally, a brief conclusion of the key problems and the development trend of them are elaborated.