Abstract：The existing route planning methods can not meet the optimal path and real-time requirements simultaneously. A method based on cultural algorithm is proposed to solve the problem of unmanned aerial vehicle(UAV) online path planning. According to the characteristics of cultural algorithm, online route planning method is combined with offline route planning method and they are fused into the population space of cultural algorithm. By extracting the knowledge, the situation knowledge is extracted from the initial path information, and the normative knowledge is recovered from the variation ranges of nodes. The planning space is limited by the knowledge and the time of planning is reduced. Different methods are combined to remedy the deficiencies of the existing methods. The experiment shows the proposed method searches target effectively in complex dynamic environments, and its planning speed is higher than that of other online route planning algorithms. Moreover, it can satisfy the real-time requirement, plan the shorter path and shorten the aircraft mission time.
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