Path Planning Based on Voronoi Diagram and Biogeography-Based Optimization

In this paper, an approach of cruise missile hierarchical path planning based on Voronoi diagram and Biogeography-Based Optimization (BBO) is proposed. First, based on Voronoi diagram, we establish the threat model to describe the planning environment and generate the initial paths and navigation nodes. Then the Biogeography-Based Optimization (BBO) is utilized to search the optimal path. In order to improve the performance of BBO, we adopt an integer priority-based encoding, analyze and discuss the migration rate model and design the migration, mutation and elite operator. Finally, the simulation results show that this approach is effective in cruise missile path planning.