针对侦察型无人机在任务区域对多个任务目标进行侦察时的航迹规划问题，提出了一种基于改进帝国竞争算法（ICA）的无人机多目标侦察航迹规划方法。首先，把任务区域多个目标的侦察顺序问题转化为旅行商问题（TSP）模型，然后通过改进智能单粒子优化(ISPO)算法快速计算每种顺序的最优航迹，以与航迹长度和航迹复杂程度有关的值为国家权力大小，最终通过ICA对其求解。仿真结果表明，该方法能够顺利计算出近似最优的侦察顺序和满足飞行性能约束的航迹。

To address the issue of the route planning of reconnaissance UAVs for multiple mission targets in the mission area, a route planning method is proposed based on improved Imperialism Competitive Algorithm (ICA) for multi-target reconnaissance.The problem of the reconnaissance order of multiple targets in the mission area is transformed into the Traveling Salesman Problem (TSP) model, and the optimal trajectory of each order is calculated quickly by using the improved Intelligent Single Particle Optimizer (ISPO) algorithm. The value related to the track length and the complexity of the track is the power of the state, and ICA is used to solve the problem.The simulation results show that the proposed method can work out the approximately optimal reconnaissance order and the trajectory satisfying the flight performance constraints.