Research of path planning method based on the improved Voronoi diagram

Path planning for the aircraft is a highly challenging problem encountered in the feasibility of the path. A new approach is presented to obtain the optimal and feasible path. Firstly, the initial Voronoi diagram is generated based on the position of the threat points in the battlefield. The initial paths are planned based on the initial Voronoi diagram. Then, the initial paths are processed by the corner smooth method. And the optimal and feasible path is found by the Dijsktra search algorithm base on the processed paths. The threat and the distance of the optimal path are the minimum for the aircraft. Finally, the simulation results show the effectiveness of the proposed approach.