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Based on the morphing requirements of the glide vehicles, a morphing glide vehicle (MGV) with high environmental adaptability is proposed. The trajectory optimization model of an MGV with redundant control variables is established. The pseudospectral method is used to the trajectory optimization, and the maneuverability and gliding ability of the MGV are quantitatively analyzed. The simulation results show that in some typical combat modes, the MGV ’ s performance can be effectively enhanced. At the same time, the optimization results can guide the morphing strategy and control system design. This article provides a reference for the scheme design and mission planning of the morphing vehicles. [ABSTRACT FROM AUTHOR]