为解决作战环境中的多无人机协同航迹规划问题，提出一种基于层次分解策略的航迹规划方法。通过骨架化算法生成规划空间，利用基于进化计算的多航迹规划(EMRP)算法为各UAV找到K条备用航迹，实现了利用EMRP算法与数学形态学相结合解决多UAV协同航迹规划问题，并对生成的初始航迹进行平滑处理，得到满足UAV机动要求的可行航迹。然后建立协同模型，为各无人机规划出既能满足时间协同要求，又能满足整体代价最优的可行航迹。仿真表明了该种方法的可行性。

A path planning method based on the hierarchical decomposition strategy was proposed for multi-UAV cooperative path planning in the battle field. First, the planning space was obtained by means of skeletonization algorithm, and K backup paths were generated for each UAV based on Evolutionary Multiple Route Planner (EMRP) algorithm. The EMRP algorithm was used together with mathematical morphology for solving the problem of multi-UAV cooperative path planning. The initial paths generated were smoothed，and the feasible paths that satisfied the maneuvering requirement of the UAV was obtained. Then a cooperative planning model was established, which could plan a feasible path for each UAV, which meeted both the requirements of time-coordination and the minimum cost. The simulation shows that this method is viable.