Abstract: Man-machine coordinated flight path planning of UAV low-altitude penetration is a key technology achieving manned and unmanned aerial vehicles cooperative combat. The algorithm of man-machine coordinated intelligent flight path planning was proposed, combining artificial auxiliary decision with novel intelligence algorithm, a chromosome integer code with changeable length based on angle was used to represent flight path. Human’s wisdom and experience could make up for the lack of intelligence algorithm. In the most dangerous environment, it made the best possible use of the human brain to guide solution procedures of the flight path planning on pop-up threats. A lot of simulation studies show that the on-line three-dimensional flight paths by this technical can meet the requirements of UAV low-altitude penetration, efficient implementation of threat avoidance, terrain avoidance and terrain following. This method has a certain practicality.

Key words: pop-up threats, man-machine coordinated cooperation, low-altitude penetration, flight path planning