Application of voronoi diagram in flight path planning

Path planning plays an important part in accomplishing task for military aircraft. Voronoi diagram is easy to construct and grandly used to path planning in recent years. A method of path planning based on Voronoi diagram is introduced, and the improved Voronoi diagram is used to the path planning considering the situation of battlefield and the drawback of Voronoi diagram. The traditional method often cannot meet the actual need, when the level of threat is different and the sudden threat appears, the Voronoi diagram must be reconstructed and the path must be replaned. So the article introduces how to reconstruct Voronoi diagram when the threat level is different, and it also brings forward how to ascertain the level of sudden appear threat. In the end, the paper gives the simulation result of the path planning.