Real time penetration of multiple moving threats

A local hill-climbing heuristic based on the weighted Voronoi diagram (WVD) is illustrated in an example of military application in simulated air-to-air scenario. For the risk measure, defined as the maximum of the ratio of lethality over distance, the WVD from computational geometry gives an intuitive suggestion of the best place to be. To find the least-cost path along the WVD, the author presents a motion-planning algorithm based on Dijkstra´s shortest path algorithm where the cost of an edge is the risk of traversing the edge. By imposing a discrete graph over the area of interest, the author reduces a continuous problem to a combinatorial problem. If the start or goal position does not lie on this graph, it is retracted by either the path of shortest distance or the path of steepest descent. A simple and easily computed path connects the disconnected components by the shortest distance or by a circular path. On the basis of this heuristic, the run-time cost of motion planning is kept to O(n²logn )