摘要
Hierarchical route planning method under the emergent threats is put forward for the emergent threats in the route planningproblem. First, the basic ideas and framework of hierarchical planning are put forward on the basis of constraints of routeplanning. Then, the primary flight corridor planning of the bacterial foraging algorithm based on Gaussian distribution estimationalgorithm and secondary optimal route planning based on heuristic A ＊ algorithm are put forward in this paper. The primaryplanning effectively reduces planning domain, and the secondary planning is based on the primary planning. Real-time routeplanning can be carried out quickly and efficiently and the emergent threats can be effective to deal with. Finally, the simulationresults prove that this method is not only scientific and reasonable, it also can effectively narrow the domain range and plan theroute in real-time to avoid emergent threats.
