中文说明：航迹规划是无人机的关键智能技术，在地理环境信息已知的条件下，如何综合考虑威胁和油耗，给出一条最优的自动航行路径，是无人机航迹规划要解决的问题
English Description：
Path planning is the key intelligent technology of UAV. Under the condition of known geographical environment information, how to give an optimal automatic navigation path considering threat and fuel consumption is the problem to be solved in path planning of UAV