中文摘要：

针对直升机在复杂环境飞行时，缺乏自动导航，飞行难度大的问题，提出基于有向元胞自动机的直升机飞行路径规划算法。在考虑直升机的飞行性能，限制区域的大小，飞行速度等限制条件下建立空域的网格模型，利用机载星基导航和定位系统生成精确肋定位信息，建立有向元胞自动机运动规则，确定有向元胞自动机的运动方向，从而构建了直升机空中自动导航的算法，实例表明：基于该算法的仿真，在复杂环境中，直升机能够规避障碍物，自动生成飞行路径，有效提高直升机飞行安全。

英文摘要：

With the development of economy, helicopter is used in great quantities. In order to cope with the helicopter flight planning in complex zone, lack of automatic navigation and flight safety measures, the helicopter flight path planning algorithm is put forward based on the directional cellular automata. Considering the flight performance, the size of the restricted areas, speed airspace and so on, the airspace is established by the grid model. The equipment fixed on the helicopter broadcasts accurate positioning information to each other automatically, which are generated by airborne navigation stars and positioning system. After establishing the movement rule of the directional cellular automata and determining the best moving direction, the helicopter air navigation is built. The results of three examples show that in a complex environment, the obstacles can be avoided, the automatic generation of flight path can be achieved and therefore flight safety can be improved effectively.