According to the radar for unmanned aerial vehicle instantaneous detection probability model and motion characteristics of unmanned aerial vehicle, this paper presents an unmanned aerial vehicle path planning method based on improved Ant Colony Algorithrn(ACA) and Voronoi diagram in order to minimize the path cost when unmanned aerial vehicle breaks through the threaten field with multiple radars. Compared with other three kinds of path planning methods in income fuel costs, threat path cost, total costs and computing time, this method has lower path cost and less computing time.%根据雷达对无人机的瞬时探测概率模型以及无人机的运动特性,提出一种基于改进蚁群算法与Voronoi图相结合的无人机路径规划方法,使无人机突破雷达威胁环境的路径成本最低.将该方法与其他路径规划方法在所得路径燃油成本、威胁成本、总成本以及计算时间方面进行对比,表明该方法具有更低的路径成本和更少的计算时间.
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