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

摘要： 为了提高Voronoi图在航迹规划方面的实用性，提出了一种改进型的Voronoi图构造模型。该模型通过引入威胁源的不可穿越区域边界，利用折中原理，在Delaunay三角网的基础上构建航迹拓扑空间。改进型的Voronoi图模型拓展了传统模型的航迹段数量，提高了航迹段对威胁的敏感性，使规划的航迹更为合理。其次，在分析突发威胁对于航迹拓扑空间影响的基础上，提出了一种基于改进型Voronoi图的航迹重规划模型，并结合D*算法对突发情况下的航迹重规划进行了研究，规划出了理想航迹。

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