Path planning for UAV in radar network area

This paper mainly introduces a path planning algorithm for the unmanned aerial vehicles (UAVs) to avoid radar network. The radar network contains several radars which have different detection ranges. In this algorithm, firstly, according to the theory of the Delaunay triangulations, a directed graph is constructed based on the locations and the detection ranges of the radars. Secondly, the Dijkstra algorithm is used to search an initial path for the UAV. Thirdly, the optimization approach is used to calculate the optimal control vector which the UAV needs when the UAV navigates to the goal position along the initial path. The simulation results showed that the paths which are planned by the algorithm not only could guide the UAV to avoid the radar network, but also satisfy some task-required constraints, which include temporal, spatial, and UAV maneuverability constraints.