中文摘要：

无人作战飞机（UCVA）航路规划是一类复杂优化问题。在众多航路规划算法中，Voronoi图是一种根据战场多威胁源分布情况获取可行航路的图形算法，而蚁群优化（ACO）算法是受到蚂蚁觅食行为启发而形成的一种启发式仿生算法。根据已知威胁源生成Voronoi加权图，其中每条Voronoi边的总代价可以由威胁代价和燃油代价计算得出；然后给出了在Voronoi图条件下，用于航路规划的改进ACO算法模型和具体实现方法；最后，将Voronoi图与ACO算法相结合，并针对某UCAV多种空战态势下的航路规划问题进行了系列仿真实验。实验结果验证了所提方法在解决UCAV航路规划问题时的可行性和有效性。

英文摘要：

Path planning of Uninhabited Combat Air Vehicle （UCAV） is a complicated optimum problem, and a common graphical technique for optimal path planning against multiple threat sources is to make use of the Voronoi diagram. Ant Colony Optimization （ACO） algorithm is a heuristic bionic algorithm for the approximate solution of combinatorial optimization problems, which has been inspired by the foraging behavior of real ant colonies. Firstly, the weighted Voronoi diagram was created according to the certain threat sources, and the total cost of each edge couM be calculated according to the threats cost and the fuel cost. Then, the improved ACO mathematical model for UCAV path planning was proposed. Finally, a hybrid Voronoi diagram and ACO approach to UCA Vpath planning was put forward Series simulation results demonstrate the proposed hybrid method is feasible and effective in UCAV path planning under various combat field environments.