针对多飞行器协同作战的协同航路设计问题,提出了一种基于模拟退火和共同进化算法的协同航路规划,建立了基于共同进化计算的航路规划问题模型和相应的适应度函数。算法利用极坐标表示每个飞行器的航路点,缩短了染色体编码长度,提高了优化效率,并将模拟退火的Boltzmann接受机制引入共同进化算法,对共同进化操作后的新解进行判断接受与否。仿真结果表明了该方法的有效性和可行性。 Aiming at the problem of collaborative route design for multi-aircraft collaborative operations, a collaborative route planning based on simulated annealing and co-evolutionary algorithm is proposed, and a route planning problem model and corresponding fitness function based on co-evolutionary computation are established. The algorithm uses polar coordinates to represent the waypoints of each aircraft, shortens the chromosome coding length and improves the optimization efficiency. The Boltzmann acceptance mechanism of simulated annealing is introduced into the co-evolutionary algorithm to determine whether the new solution after co-evolution operation is accepted or not. Simulation results show the effectiveness and feasibility of the method.