Study of Path Planning Algorithm and Simulation for UAV
Deyun Zhou · Fire Control and Command Control · 2007
A Voronoi diagram is constructed based solely on the locations of the threats and no-fly zones.The Voronoi graph yields the optimal paths to travel between a set of threat central points to avoid the threats and no-fly zones.The vector graphics is consisted of line whose cost is calculated according to the special information of threats including range,location,killing probability and so on.Dijkstra's algorithm is used to get the initial optimal paths,and more,the paths are transformed into flyable paths according to UAV's initial state and capability limit.The simulation is completed under MATLAB platform and the simulation result is presented.