提出了一种应用于灾情侦测无人机的动态航迹规划算法。当突发地震、洪水等重大灾害时，可第一时间获取灾情环境信息，并利用无人机携带侦测设备对灾害现场信息、图像进行探测和实时传送。提出了一种基于文化算法框架下的动态航迹规划算法，首先针对环境中的不同地形进行模型构建，对丘陵、山峰等障碍物设计相应的函数模型，构建数字地图，在该地图模型上进行动态航迹规划，该航迹规划算法可使无人机在飞行过程中自主规划航迹，实现超低空飞行，使信息采集更准确，有效的辅助救援策略的制定。通过仿真验证，并与多种算法进行比较，证明了该算法的可行性与有效性。

A dynamic track planning algorithm for disaster detection UAVs was proposed. When a major disaster such as an earthquake or flood, in order to obtain the disaster environment information for the first time, the UAV portable detection device can be used to detect the disaster ready information and images, and the information can be transmitted in real time. A dynamic track planning algorithm based on the framework of cultural algorithm was proposed. Firstly, the model was constructed for different terrains in the environment, and the corresponding function model was designed for obstacles such as mountains and peaks, and a digital map was constructed. The dynamic track planning was performed on the map model. The flight path planning algorithm can make the UAV independently plan the flight path during the flight process, realize ultra-low altitude flight, make the information collection more accurate, and effectively assist the rescue strategy. It was proved that the feasibility and effectiveness of the algorithm were verified by simulation and comparison with various algorithms.