Algorithm 1: Route Planning of Resilience Enhancement.
Input 1:  Coordinates of the initial node and the target node	1
Input 2:  Current disturbance field level	2
Output:  List of coordinates of planned route	3
Choose the appropriate distance $\xi$ according to the disturbance field level	4
Create Open-list and Close-list	5
Put the initial node into the Open-list	6
Repeat	7
If Open-list is empty	8
Break	9
Else	10
Add a ring of coordinates of the current node to the Open-list	11
Traverse the outer ring coordinates of the current ring node	12
The sensor records the current disturbance force $F_z$ $F_h$	13
If Crash=Ture (the outer ring nodes meet obstacles)	14
Calculate tractive and repulsive forces $F_{tra}$ $F_{rep}$	15
$\hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em} O_{risk}=1$	16
$\hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em} F_{fin}=F_{tra}+F_{rep}+{\vartheta }_F\left(F_z+F_h\right)+{\vartheta }_G\left(G_{uav}+G_s\right)$	17
Else	18
$\hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em} O_{risk}=0$	19
$\hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em}\hspace{1em} F_{fin}=F_{tra}+{\vartheta }_F\left(F_z+F_h\right)+{\vartheta }_G\left(G_{uav}+G_s\right)$	20
Calculate the total cost of each node in the inner ring	21
Put the current node into the Close-list	22
If the current node is the target node	23
Break	24
If the current node has adjacent nodes	25
Add adjacent nodes to the Open-list	26
Return list of nodes planned	27