4D route rapidly planning based on route-segment tree

The launch time error and the random difference during flying will influence the arriving time of the unmaned combat aerial vehicles(UCAV). Based on the sparse A* algorithm, a route-segment tree was built with considerations of the moving characteristics of modern UCAV. The best leaf point was found according to the target position, and the route which can eliminate the arriving time error of the target was laid out by route backtracking and velocity optimizing. The 4D (four-dimensional) rapidly route planning algorithm was realized in a case, and the simulation result shows that the UCAV can arrive the target at the designed time.