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Route planning and re-planning is an important part of modern aircraft mission planning. The existing route planning algorithm for this problem is complicated. We present a new and simple Particle Swarm Optimization Route Planner-PSORP algorithm for route planning and re-planning of air vehicles. In this algorithm, specific particle swarm coding representation and suitable fitness function was used. It can process each kind of the mission constraints and finally obtain an approximate optimal flight path. The simulation results demonstrated the feasibility of the algorithm.