Route Planning for Unmanned Aircraft Based on Ant Colony Optimization and Voronoi Diagram

The technology based on ant colony optimization and Voronoi diagram was used to achieve the intelligent route planning for unmanned aircraft. First, the Voronoi weighted direction diagram was created by the threat sources distribution and the threat costs. Then the ant colony optimization was used to find out the best route from all the possible routes. Simulation was carried out to find the best route by the Matlab soft, the results showed the UAV route planning based on Voronoi diagram and ant colony optimization was right and effective.