Development of a Modified Voronoi Algorithm for UAV Path Planning and Obstacle Avoidance

In this paper, the development and demonstration of a modified Voronoi algorithm for unmanned aerial vehicle (UAV) path planning and obstacle avoidance is presented. This algorithm is intended to produce a flyable collision-free path through a series of obstacles/threats represented by cylindrical risk zones. A model of the West Virginia University (WVU) YF-22 research aircraft implemented within the WVU UAV simulation environment is used to demonstrate the functionality of the proposed algorithm and its effectiveness in the presence of several risk zones configurations. As compared to traditional methods, the approach is more general, coping with obstacles and risk zones of variable intensity and providing additional flexibility and better coverage of the possible solution space.