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

摘要： 航迹规划算法是无人机关键技术之一，同时也是任务规划系统（Mission Planning System）核心之一。针对固定目标规划问题，提出一种voronoi图改进算法和动态稀疏A*算法融合的三维航迹规划方法。该方法针对固定威胁目标，通过改进voronoi图规划算法快速求解二维航迹路径，然后在该路径参考下，用动态稀疏A*算法求解符合无人机飞行动力学约束的三维航迹。试验表明，该算法比动态稀疏A*算法规划速度快，并保证了航迹最优性。

关键词: 无人机, 航迹规划, voronoi图, A*算法