Planning algorithm of tactics flight path

In order to find optimal flight path with certain constraints, a trajectory planning algorithm of tactics flight path based on Voronoi diagram was presented, the function of threat cost was formulated, reference flight path consisting of a series of beeline segments was generated by decomposition strategy, and real-time planning flight path was optimized by B spline, its simulation test was done by Matlab. Simulation result shows that the algorithm is feasible, the optimal flight path satisfies flight dynamic constraints and minimal flight radius, avoids unfeasible flight routine with sharp angles.