关键词: 无人飞行器，在线航迹规划，量子粒子群优化，最小威胁面

Abstract: With regard to modern warfare, the environmental information is changing and it' s difficult to obtain the global environmental information in advance,so the real-time flight route planning capabilities of unmanned acrocraft is rectuired. Quantum particle swarm optimization was introduced to solve this optimization problem. Incorporating constrains into the algorithm, the local trap problem of simple PSO algorithm was solved effectively. Meanwhile, according to the threats distribution of terrain obstacles, adversarial defense radar sites and unexpected surfaccto-air missile (SAM) sites, surface of minimum risk was introduced and used to form the searching space. B-spline curves were used to approach the horizon projection of the 3-D route and this simplified the original problem to a two dimension optimizalion problem, thus the complexity of the optimization problem was decreased and efficiency was improved. I}he simulalion results show that this method can meet the online route planning.

Key words: Unmanned aerocraft, Online route planning, Quantum particle swarm optimization, Surface of minimum risk