为合理解决多无人机协同航迹规划问题，提出了两种解决方法。针对提出的空间直接法，将多无人机三维协同航迹规划问题简化为具有时间约束的二维航迹规划，并对传统协同变量和协同函数进行新的构建，最后结合一种改进的粒子群算法作了进一步的仿真实验，并取得了比较理想的结果。

Two methods were proposed for solving the problem of cooperative path planning for multiple Unmanned Combat Aerial Vehicles (UCAV).Based on space direct method the problem of 3D cooperative path planning was change into 2D path planning at different height layers.Then new coordination variables and coordination functions were established which were different from the old ones.Finally an improved Particle Swarm Optimization (PSO) algorithm was used for simulation and an ideal result was obtained.