In order to solve the problem of unmanned aerial vehicle (UAV) dynamic target path planning, this paper uses the two-level hierarchical planning structure and the hybrid evolutionary algorithm of the sparse A* algorithm and the cultural algorithm (CA) to realize the dynamic UAV path real-time planning under the dynamic target, solves the dynamic path planning problem of avoiding threats and following the target, improves the planning speed and reliability of the track, strengthens the flight safety of UAV.%针对移动目标的无人机航迹规划问题，结合文化算法改进稀疏A*算法解决静态航迹的绕径问题，然后进一步使用混合算法解决目标跟随过程中动态航迹的规划速度和最优路径的平衡选择问题，最终实现不确定环境下跟随目标和威胁躲避的动态航迹实时规划。通过采用静态和动态两级分层规划结构，使用基于稀疏A*算法与文化算法的混合算法实现了动态目标和动态威胁的无人机航迹规划。
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