在现代战争中,多航迹协同规划需求越来越突出。对于存在辅助制导约束的巡航导弹规划问题,传统的协同航迹规划方法一般均采用栅格图规划环境,实际应用中,所需规划的任务数量往往很多,现有基于栅格图规划环境的航迹规划算法均难以在短时间内规划出结果,这是由栅格图的特性所决定的。文中提出了一种将栅格图环境转化成图环境的方法,在图上进行航迹规划,可大大降低规划时间。

The needs of cooperative route planning for multi-task and multiple weapon systems become increasingly prominent in modern war, the traditional cooperative route planning methods usually base on the planning environment which is raster map. Actually, the number of tasks is very large, almost all algorithms based on raster-map-environment can't give a satisfactory result in short time, this is determined by the characteristics of the raster map. In this paper, a method which could transform a raster-map-environment to a map-environment was proposed, and it can greatly reduce the planning time. The problem existing in the new method is route planning for cruise missile whose most important characteristic is having the assisted guided constraint.