Initial path planning for unmanned combat air vehicles based-on different threats

A path planning scheme for unmanned combat air vehicles based-on different threats is developed. Firstly the principle to select path in local area with different threats is established, and a new approach to create the path diagram by different threats is presented. Secondly the evolutionary algorithm based on graph model is described. Results of simulation show that this path planning method can be used to generate an optimal path without smoothness. Thus a breakthrough has been achieved in the initial path planning made by using the Voronoi diagram only for same threats.