With respect to the problem of 3D path planning of Unmanned Aerial Vehicles ( UAV) under uncertain environments when the target is moving,a method of fast 3D path planning was designed based on the improved D*Lite algorithm .By use of the improved cost evaluating function and the real-time information of unanticipated threats and moving targets,and based on the constraints together with the improved search algorithm,a method of 3D path planning for UAVs was given .The simulation results demonstrated that the algorithm can not only meet the real-time path planning demands,avoid the unanticipated threats and attack the moving targets,but also reduce the search space,improve the search efficiency and optimizing capability,which is a good method for path planning of UAV under uncertain environments .% 针对不确定环境下目标移动时的无人飞行器三维航迹规划问题，采用改进的D*Lite搜索算法，设计了一种三维航迹快速规划方法。利用改进的代价评估函数，根据突发威胁和移动目标的实时信息，将航迹规划约束条件和改进的搜索算法相结合，给出了地面目标移动时的无人飞行器三维航迹规划方法。仿真结果表明，该算法不但可以满足实时在线的航迹规划要求，能够有效躲避突发威胁，打击移动目标，还能有效地缩小搜索空间，提高搜索效率及寻优能力，能较好地解决不确定环境下目标移动时的航迹规划问题。
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