针对传统A*算法在飞行器航迹规划过程中产生节点较多,搜索时间较长等缺点,提出了一种改进的A*算法。该算法采用分层思想,将局部规划与全局规划相结合,并对代价函数进行了改进,在保证航迹优化的基础上,提高了搜索效率。仿真结果表明,运用该算法能够规划出符合工程应用的飞行器航迹。 In view of the shortcomings of traditional A * algorithm such as large number of nodes and long search time in aircraft trajectory planning, an improved A * algorithm is proposed. The algorithm uses the idea of ​​stratification, combining local programming with global programming, and improves the cost function. On the basis of ensuring track optimization, it improves the search efficiency. The simulation results show that the algorithm can be used to plan the flight path of the aircraft.