关键词: 无人机, Voronoi图, 路径算法, 航路规划

Abstract: Aiming at the deficiency of traditional B spline interpolation method in unmanned aerial vehicle route optimization path, we proposed a new fast route optimization algorithm based on the Voronoi diagram. Firstly, the initial path was generated in the Voronoi diagram according to the shortest path algorithm, and then the optimization algorithm was used to update and replace each node that made up the nonflying angle in the path to generate an optimal path. The algorithm solved the problem that the unmanned aerial vehicle could not fly because of the unreasonable initial path, and ensured the optimal cost of the threat and fuel cost in the flight path. The experimental results show that the algorithm satisfies the validity and rationality of route planning.

Key words: Voronoi diagram, route planning, unmanned aerial vehicle, path algorithm