Flight path planning of agriculture UAV based on improved artificial potential field method

The flight path planning of agriculture UAV based on the traditional artificial potential field method is easy to fall into local minimum point in a complex environment with many obstacles. In order to describe the threat of obstacles, a threat model of obstacles is designed to endow the different threat level and threat coefficient of different types of obstacles.On the basis of the improved repulsive force function, the paper puts forward a new algorithm that a virtual target randomly generated within the scope of the local minimum point neighborhood.The results of simulation experiments in MATLAB prove the validity of the improved algorithm.