In order to improve practicability of route planning, a submarine route planning model for calculation is established based on the multi-object dynamic threat to a submarine. First of all, this paper gives a brief introduction about differential game theory with the superiority for route planning. Then, it analyses the model of dealing with single-object threat and calculates the model by differential game theory. Finally, based on the single-object qualitative differential game theory, a submarine route planning model is derived as well as a model for describing state variables, control variables, restraint variable equation and differential game. The proposed numerical calculation results show that the theory can deal with the dynamic threat effectively due to its practicability, just depending on the sector and optimal strategy.%为增强航路规划算法的适用性,充分考虑潜艇面临的动态威胁,建立并求解了基于多目标动态威胁的潜艇航路规划模型.首先,介绍了微分对策的基本理论,指出其在处理航路规划问题方面的优越性；其次,引入了基于单目标威胁的航路规划模型,并采用微分对策对其进行了描述和求解；最后,在单目标威胁模型的基础上,推导了基于多目标动态威胁的潜艇航路规划模型,建立了对策的状态变量、控制变量及其约束、状态方程与微分对策模型,并给出了其微分对策的系统解.数值求解结果表明:该算法可较好地解决动态对抗问题,只需确定界栅和最优策略即可,同时该航路规划算法简便易行,具有较强的适用性.
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