earticle

영어

In order to solve the path planning problem about UAV attack multiple moving targets under dynamic environment, analytical method is proposed in this paper. Firstly, the Voronoi diagram method is used to create threat field, and the total planning cost is established. Then, the artificial potential field method and the dijkstra algorithm is improved and optimized respectively. For the track point outside the Voronoi diagram, the artificial potential field method is used to generate the local track. For the track point inside the Voronoi diagram, the dijkstra algorithm is used to track the moving target tracking along the side of Voronoi diagram, and the analytical method that UAV path planning method of moving target under dynamic environment is put forward. Finally, the simulation experiment is conducted, the result of simulation shows that the Voronoi diagram method can become complex airspace into division problems, the search space is reduced effectively, the time of planning is shorten, and the UAV real-time tracking and precision strikes against multiple moving targets can be resolved efficiently.