Space Decomposition Network Based Path Planning for Unmanned Air Vehicles
Humin Lei · Journal of Air Force Engineering University · 2006
A path planning method for UAVs is presented.First,through mission scenario,a Voronoi diagram is constructed,based on this,space decomposition network model and Resenthal algorithm are used to compute the coarse path-a series of straight-line segments and not flyable.Then,using a series of cubic splines to connect these straight-line segments,the path is refined into an optimal one that is flyable for the UAVs.Simulation result shows that this method is simple,effective and of a certain value in application.