Un-manned plane fairway layout method based on Voronoi graph and ant colony optimization algorithm

The invention provides an unmanned aircraft route planning method based on combination of Voronoi diagram and ant group optimizing algorithm. Firstly a model is established in accordance with properties of various threaten sources, e. g. landform, radar, missile and anticraft gun, and the unmanned aircraft route cost includes threaten costs and fuel oil costs; then initial pheromone values are given to each edge of the Voronoi diagram, enabling an ant to begin the search from the Voronoi node nearest to the start point. The marching Voronoi edge is selected based ob the status shift rule, thenthe search at the Voronoi node nearest to the target point is finished; And when all the ants have finished their own candidate route selection, the pheromones at each edge of the Voronoi diagram areupdated in accordance with the improving and updating rules, wherein the pheromones at edges with no ant passing by are evaporated, and the process is repeated until an optimal unmanned aircraft route is found out. The method