Abstract：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.
2015, Vol. 1 
