Abstract: To solve the trajectory planning problem of UPV in task condition,a new trajectory planning method is proposed based on deep guidance rapid-exploring random tree (DG-RRT) algorithm. Firstly, the particle model of UPV and threat environment model are established. Meanwhile, the performance constraints and threat avoidance conditions of aircraft are given. Then, the trajectory planning method of DG-RRT algorithm is proposed, in which the deep guidance strategy and the optimization strategy are introduced to the traditional RRT. Finally, the simulation results illustrate the e ectiveness of the proposed algorithm.