Study on UAV Path Planning Oriented to Optimization of Positioning Error

For many applications in wireless sensor network (WSN) node positioning by unmanned aerial vehicle (UAV) need a path planning algorithm optimizing positioning error. In this article, we present an algorithm combining Voronoi diagram and geometric dilution of precision (GDOP) to make track points, considering both the efficiency of flying and accuracy of positioning. Then, we connect all the track points using genetic algorithm and we get the minimized flight path.