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中文摘要：
航迹规划对军用飞行器完成任务具有重要的意义。Voronoi图由于其特有的简易性，近几年来逐步应用到航迹规划中。给出利用Voronoi图进行航迹规划的方法，针对实际的战场环境以及传统Voronoi图的不足，利用改进后的Voronoi图进行航迹规划。传统的Voronoi图难以满足实际的需要，当威胁体的等级并不相同以及突发威胁体的情形下，必须进行Voronoi图的重构以及航迹的重规划，因此在威胁体的威胁等级不同的情况下介绍了如何重新构造Voronoi图的方法，指出了突发威胁体的情况如何确定该威胁体的等级。最后给出了利用Voronoi图进行航迹规划以及重规划仿真结果，验证了Voronoi图在航迹规划中的可行性。
英文摘要：
Path planning plays an important part in accomplishing task for military aircraft. Voronoi diagram is easy to construct and grandly used to path planning in recent years. A method of path planning based on Voronoi diagram is introduced, and the improved Voronoi diagram is used to the path planning considering the situation of battlefield and the drawback of Voronoi diagram. The traditional method often cannot meet the actual need, when the level of threat is different and the sudden threat appears, the Voronoi diagram must be reconstructed and the path must be replaned. So the article introduces how to reconstruct Voronoi diagram when the threat level is different, and it also brings forward how to ascertain the level of sudden appear threat. In the end, the paper gives the simulation result of the path planning.
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