Fast Initial Path Planning for UAVs based VORONOI Diagram
Chunjun Chen · Fire Control and Command Control · 2009
On the basis of analyzing VORONOI Diagrams' attributes and the penalty function of the threat of the sides,a method of local optimize first and then global optimize is proposed to plan the initial path of the UAVs,which can avoid the arithmetic fall into the local minimum while optimizing of global.A simple example is analyzed to show that the planning method is rational and fast,and the pseudo codes are provided.This method can be applied in initial processing of different arithmetic in the path planning and shorten the time of computing,so it is especial useful in the situation which requires real-time path planning and in the situation of pop-up threats.The final simulation result of path planning of certain position under the radar net show that the method is effective,and the initial path sets can effective escape form the dens radar net and select its shortest path to approach the target.