空中机器人能够在枯燥的任务领域、恶劣及危险的环境任务领域不需人为干预地完成指定任务，近年来在军 事和民用两个方面得到越来越广泛应用。本文根据战场上各种威胁的分布情况，构建了Voronoi 图，结合不同威胁的具体信 息，计算Voronoi 图中路径段的代价，最后通过计算和修正，得出了空中机器人的飞行最优路径。

Air robot can complete the assigned task in the boring, bad and dangerous field without human intervention. In recent years, it has been more and more widely used in the military and civilian aspects. According to the distribution of all sorts of threats on the battlefield, this paper constructs Voronoi diagram, combining with specific information of different kinds of threats, calculating the path cost of Voronoi diagram. Finally, with the calculation and correction, it concludes the optimal flight path.