现代战场环境复杂多变,为了提高无人机对突发威胁的应变能力,提出一种实时的快速航迹规划方法.该方法在RRT(快速扩展随机树)算法的基础上进行了改进,并结合了无人机机载设备的探测范围,采用滚动规划策略对航迹进行在线实时规划.仿真实验结果表明,该方法规划效率较高,能够有效处理未知环境中的突发威胁,确保了航迹规划的实时性和有效性. In order to improve the capability of UAV in coping with emergent threats, a fast real-time trajectory planning method is proposed in this paper.On the basis of RRT (Rapid Expansion Random Tree) algorithm, this method is improved and Combining with the detection range of UAV on-board equipment, rolling planning strategy is used to carry out on-line real-time planning of flight path.The simulation results show that this method has high planning efficiency and can effectively deal with unexpected threats in unknown environment, Trace planning real-time and effectiveness.