VORONOI Diagram-based Path Planning for UAVs

Path Planning for uninhabited air vehicles (UAVs) plays important roles in autonomous flight and completing mission. On the basis of analyzing characters of VORONOI diagram, VORONOI diagram-based path planning arithmetic was researched in the background of Scenario and Mission Planning Federate in UAVS Simulation Federation. How to build VORONOI diagram based on threaten locations, compute costs of flight routes, choose preliminary path and optimize path were discussed importantly. Last, the advantages and disadvantages of the arithmetic were summarized and the improvement approach was proposed.