人机协同低空突防航迹规划是实现有人机和UAV协同作战的关键技术,结合协同作战的特点和UAV低空突防航迹规划的要求,将人工辅助决策和改进的智能算法结合起来,并利用角度量的变长度基因编码表示飞行航迹,提出人机协同的智能航迹规划算法。该算法能够充分发挥人脑这个超级智能系统,利用人的智慧和经验弥补智能算法的不足,在“高危环境下”下针对突发威胁的覆盖范围来引导航迹求解过程,通过大量仿真计算,结果表明:应用该算法规划的三维航迹能够有效躲避突发威胁,实现威胁回避、地形回避和地形跟随,满足UAV低空突防要求,具有一定的实用价值。 Human-machine coordinated low-altitude penetration trajectory planning is a key technology to realize the cooperative operation between man-machine and UAV. Combining the characteristics of cooperative operation and the planning of low-altitude pedestrian trajectory in UAV, human-assisted decision-making and improved intelligent algorithm are combined By using the variable length gene encoding of the angle to represent the flight path, a human-computer coordinated intelligent trajectory planning algorithm is proposed. The algorithm can give full play to the super-intelligent system of human brain, make use of human’s wisdom and experience to make up for the deficiencies of intelligent algorithm, guide the trajectory solving process under the “high-risk environment” to cover the range of sudden threats, The results show that the proposed three-dimensional trajectory can effectively avoid emergent threats and achieve threat avoidance, topographic avoidance and terrain following to meet the requirements of low-altitude penetration of UAV, which is of practical value.