为解决无人机快速可靠的路径规划问题,提出了一种在威胁分布已知条件下的无人机飞行路径规划新方法。在Matlab软件平台下,运用Voronoi图法根据已知威胁分布获取无人机的初始安全飞行路径,然后采用Dijkstra算法进行路径搜索获取最短路径,再利用提出的分割法对最短路径进一步优化并减少其拐点,最后利用spcrv函数对路径进行平滑以获取最优路径,并通过一系列的仿真证明了该算法可行并具有很好的时间性能。

In order to solve the UAV path planning problem fast and reliably, a new path planning method based on the known distribution of threats was presented. On Matlab-based software platform, the initial safe path was obtained through Voronoi diagram. Then the Dijkstra algorithm was used to search for the shortest path. The split method proposed was used to reduce the inflection point in the shortest path which was calculated by Dijkstra algorithm. Finally, sperv function in Matlab was used to smooth the path for optimal path, and the feasibility of the algorithm and excellent time performance was verified via a series of simulation.