Research On Path Planning Method And Visualization For Aircrafts Based On Weighted Voronoi Method

Path planning for aircrafts refers to the automatic path search problem for flights which is based on the performance of the aircrafts and the surroundings around the flights. Now the unmanned aerial vehicle become more and more widely applied, path planning problem received extensive attention from various countries. General path planning algorithms which use point or circle sets to fit the boundary of the barriers including radar detection, terrain factors considered barriers too rough. However, in the real world, the obstacle boundary fitting accuracy and the time and space constraints of obstacles will have great influence on path planning effect. Therefore, this article proved an improved weighted Voronoi method to solve these problems in the perspective of controlled airspace and the research work is launched from following several aspects to realize the path planning visualization:Firstly, this part realized airspace information extraction. Airspace designed form is analyzed to realize the input of airspace information data in the computer, and then designed the input data structure for the path planning information to output the different forms of airspace information data according to the shape of obstacle.Secondly, according to the time and height condition of the barrier, this part put forward the path cost function considering the constraints of time and space. The rasterization method is present to fit the obstacle boundary, so the accuracy of the obstacle boundary is controlled which improved the safety of the flight path planning. Then this part analyzed the shortage of Voronoi diagram and weighted Voronoi diagram method and proposed improved weighted Voronoi graph method to get the initial path network information. Afterwards, the Dijkstra algorithm is used to obtain the optimal path with least path cost for the air vehicle.Thirdly, this part realized the 2D visualization and 3D visualization of airspace information data, the path network information, and the optimal path for the aircraft, and realized the basic control of keyboard and mouse. In addition, the danger degree is displayed by using different color.Finally, due to the different situation of path planning, this part designed experiments to verify the path planning effect and conduct comparative analysis with graphics, tables etc. The experiments proved that the improved weighted Voronoi method has provided a reasonable and safe path for the aircrafts.