关键词: 无人机, 航迹规划, voronoi图, A*算法

Abstract: Path planning is essential for both UAVs and mission planning system.This paper proposes a three-dimension path planning algorithm based on a hybrid of an improved voronoi diagram algorithm and a dynamic A* algorithm for a fixed-point.The proposed algorithm plans a two-dimension path by the improved voronoi diagram　method，and then presents a three-dimension path coinciding with the flight constraints of UAVs by referring to the former two-dimension path.Experiments highlight the efficiency of the path planning method.

Key words: Unmanned Aerial Vehicle（UAV）, path planning, voronoi diagram, A* algorithm