A Path Planning Algorithm for UAV Based on Skeleton Algorithm

The Unmanned Aerial Vehicle(UAV) will play a more and more important role in the futureand how to improve its survival-rate and operational effectiveness has become focus of the path-planning.The threat-circles were simplified from threats of radarantiaircraft missile landformno-fly areas and so onand a skeleton diagram was constructed based on the distribution of the threat-circles.The skeleton graph yielded the feasible paths for travel between a set of threat-circles to avoid the threats.The vector graphics were consisted of the lines whose cost was calculated out according to the specific information of threats.The initial optimal path was obtainedwhich was shortened according to the need of the threat avoiding.Simulation was made with Matlab platform and the simulation result is presented in the paper.