Aircraft auto-route planning method with combination of searching and optimization

The invention discloses an aircraft auto-route planning method with combination of searching and optimization. The method includes the steps of: 1) searching an available route by means of improved A* algorithm; 2) performing pretreatment for optimization of the available route; 3) optimizing the available route by means of particle swarm evolution algorithm; and 4) performing after-treatment of the optimized route. The method combines the searching capability of the improved A* algorithm and the optimization capability of the particle swarm evolution algorithm, wherein the improved A* algorithm is used for quickly searching an available route, thus ensuring that a feasible solution can be obtained within a short time by means of the planning method and increasing the robustness of the planning method; and then the particle swarm evolution algorithm optimizes the searched route to obtain a better optimized route, thereby improving optimization performance of the planning method. 本发明公开了种结合搜索与优化的飞行器自主航迹规划方法，所述的