The attack process is segmented into three necessary phases and an improved tool called rapidly - exploring random tree is used for trajectory planning at the last approaching phase by using the concept of state - time space 将攻击过程划分为三个必要的阶段进行分析，并针对最后关键的逼近阶段提出了改进的快速扩展随机树算法，通过在原算法的基础上融人状态一时间空间的思想，使改进后的算法能够有效地处理动态环境中的轨迹规划问题。
