The Algorithm for Constructing the UAV Route Based on the Combined Method

This article addresses one of the navigation challenges of unmanned aerial vehicles (U A V s) in hostile environments - the construction of a safe route from the starting point to the destination point. To solve this problem, we propose initially defining threat points using a normal distribution, determining candidate points for constructing a preliminary route, and then using the Voronoi diagram vertices to construct a Delaunay triangulation for the obtained points. The shortest path is then determined from the “safe” edges of the triangulation based on Dijkstra's algorithm. Unlike existing route construction algorithms for UAVs, the developed original algorithm improves the promptness of determining the shortest and safest route during UA V navigation. The developed algorithm was implemented programmatically using the Python programming language and graphical tools of Matlab. The results of the computational experiment confirmed the functionality and effectiveness of the propose.