The Unmanned Aerial Vehicle(UAV) will play a more and more important role in the future, and how to improve its survival-rate and operational effectiveness has become focus of the path-planning. The threat-circles were simplified from threats of radar, antiaircraft missile, landform, no-fly areas and so on, and a skeleton diagram was constructed based on the distribution of the threat-circles. The skeleton graph yielded the feasible paths for travel between a set of threat-circles to avoid the threats. The vector graphics were consisted of the lines whose cost was calculated out according to the specific information of threats. The initial optimal path was obtained, which was shortened according to the need of the threat avoiding. Simulation was made with Matlab platform and the simulation result is presented in the paper.%未来战争中无人机的应用地位将大大提高,如何提高无人机的生存率、作战效率成为航路规划研究的主要方向.将敌方雷达、对空导弹、地形等威胁简化构建成威胁圆,根据威胁圆的分布情况,构造基于威胁圆的规避威胁的骨架化图；结合各具体威胁信息,计算各路径段的代价值,形成有赋值的有向图,计算初始最优航路；利用实际飞行中无人机对威胁规避的要求,对初始航路做缩短处理.运用Matlab编制图形化界面,得到仿真结果的图形显示.
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