The cooperative route planning problem of multiple air vehicles is studied with the proposal of a novel coevolutionary coordinative route planner.

针对多飞行器的协调航迹规划展开研究，提出了一种基于协同进化的多飞行器协调航迹规划算法。

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One of the basic objects of a flight path planner is to plan a route through threat space to accomplish mission objectives, at the same time the route should satisfy mission planning constraints.

轨迹规划的一个最基本目标是规划飞机通过威胁空间并实现任务目标的飞行轨迹。

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