lu cao - School of Electronic Information, Northwestern Polytechnical University,Xi’an, ۷۱۰۱۲۹, China
an zhang - School of Electronic Information, Northwestern Polytechnical University,Xi’an, ۷۱۰۱۲۹, China

Due to the complex constraints, more uncertain factors and critical real-time demand of path planning for unmanned combat aerial vehicle (UCAV), an approach of fast path planning basedon Voronoi diagram and pre-evolution genetic algorithm (PEGA) is proposed, which makes use of the principle ofhierarchical path planning. First the Voronoi diagram is utilized to generate the initial paths and calculate the weight of the pathsby considering the constraints. Then the optimal path issearched by using PEGA. Multiprocessors parallel computing techniques are used for PEGA to improve the traditional genetic algorithm and the optimal time is greatly reduced. Simulation results verify that the method of path planning is more favorable in the real-time operation. It can improve the adaptability of dynamic battlefield and unexpected threats for UCAV

Unmanned Combat Aerial Vehicle, Pre-evolution Genetic Algorithm, Voronoi Diagram, Path Planning, Real-time