The UAV dynamic path planning algorithm research based on Voronoi diagram

According to the flight path planning problem in dynamic environment, this paper gives a method of analysis. First, the radar threat field based on Voronoi diagram is created, and the track performance indicators established based on radar threat cost and fuel cost. Then the dijkstra algorithm was improved, and the algorithm is used for path planning in dynamic environment.. Finally, the simulation experiment is made, the result of simulation shows that the improved algorithm can achieve real-time tracking of moving targets, so the effectiveness of the algorithm is be verified.