ICNPAA 2010: Mathematical Problems in
Engineering, Aerospace and Sciences

As the location and velocity direction of the initial point for missile borne unmanned air vehicles projected from missile is random, the hierarchical trajectory planning idea is proposed: global trajectory planning off-line first and then partial trajectory planning on-line. A partial trajectory planning method is presented, in which a geometric analysis method is adopted in the horizontal plane and cubic spline method is adopted in the vertical plane to plan the beginning part of the trajectory on -line. It can satisfy the dynamic constraints for the initial and cut-in point, and it is simple and quickly, so as to meet real-time request. The simulation results show that the proposed method is efficient and has a certain engineering value.