Path Planning Based on Voronoi Diagram and Genetic Algorithm
Zhu Fan · Electronics Optics & Control · 2009
In the complex combat environment,how to plan the flight path quickly which fulfills some constraints is critical for defense penetration of Unmanned Air Vehicle(UAV).An approach of path planning based on Voronoi diagram and modified genetic algorithm was proposed,which adopts the principle of hierarchical planning.First,the Voronoi diagram was utilized to generate the initial paths and calculate the weight of the paths by considering the constraints.Then the optimal path was searched by using genetic algorithm.For avoiding generation of infeasible solution,a priority-based encoding method was adopted.The principle of encoding and decoding was illustrated carefully,and the genetic operators were designed.Simulation result showed that the approach proposed is feasible.