本文阐述了全局路径规划问题的无人飞行器作为约束在三维环境下的优化问题，提出了一种微分进化算法生成一个最优的可行路径。(This paper formulates the global route planning problem for the unmanned aerial vehicles (UAVs) asa constrained optimization problem in the three-dimensional environment and proposes an impro