Abstract: Path planning is designed to make use of terrain and enemy and other information to plan out the largest survival probability penetration trajectory of Unmanned Aerial Vehicle (UAV). After analyzing the simulation needs of path planning, the path planning of UAV was studied. Firstly, a Voronoi diagram was constructed based on the battle field environment full of threats. The Voronoi diagram yields the optimal routes to travel among a set of threat source points to avoid the threats. Then, Dijkstra algorithm was used to search the optimal route. Finally, the simulation system of path planning was carried out on the platform of Visual Studio .Net 2010 based on MS SQL Server 2008 database and Visual C # 2008 language, and the simulation result was given in graph form, which provided a good basis for further study.

Key words: path planning, Voronoi diagram, Dijkstra algorithm, Delaunay triangular network

摘要： 航迹规划的目的是要利用地形和敌情等信息，规划出生存概率最大的无人飞行器突防轨迹。通过对航迹规划任务的仿真需求分析，对无人飞行器的航迹规划进行了研究。首先根据遍布威胁的战场环境，构造了基于威胁源的Voronoi图，得到规避威胁的航迹路线；然后采用Dijkstra算法，搜索出最优航迹路线；最后利用Visual Studio .Net 2010开发平台，在MS SQL Server 2008数据库支持下，运用Visual C# 2008编制图形化界面，设计开发了无人飞行器航迹规划仿真系统，并给出了开发结果，实现了仿真结果的图形显示，为进一步的研究航迹规划奠定了基础。

关键词: 航迹规划, Voronoi图, Dijkstra算法, Delaunay三角网