In the coordinative path planning for distributed multiple missiles

an improved Voronoi diagram is introduced to construct a set of feasible flight paths of the missiles

and a model is presented for calculation of the cost of each path taking the threat and fuel into account.Aiming at minimizing the total cost of the paths and the greatest time difference of arriving of all the missiles

the multi-platform missile path planning problem is modeled as a distributed constrained optimization problem (DCOP)

and is well solved with existed DCOP algorithms.A typical senario is simulated to verify the presented method.The simulation results show the optimized path planning can be obtained

the computational time cost

as well as the communication cost is moderate

and the method is validate in practical applications.