关键词: 突发威胁, 航迹重规划模型, 改进型Voronoi图, 折中原理, D*算法

Abstract: To improve the practicability of the Voronoi diagram for path planning, a model which is based on the improved Voronoi diagram is presented. According to bringing in the boundary of the threat sources noncrossing region, using compromised principle, the path topological space on the basis of Delaunay triangulation is established. The improved Voronoi diagram model expands the number of path segments for traditional model, improves the sensitivity of the path segments to the threats, and makes the planning path more reasonable. Secendly, based on analyzing the influence of emergent threats to path topological space, a kind of path replanning model is proposed. Combined with D* algorithm, the path replanning in the emergency is studied and the ideal path is planned.

Key words: emergent threats, path replanning model, improved Voronoi diagram, compromised principle, D* algorithm