Agricultural plant protection unmanned aerial vehicle and obstacle avoidance and spraying path planning method for same

The invention provides an agricultural plant protection unmanned aerial vehicle and an obstacle avoidance and spraying path planning method for the same, and relates to the field of route planning methods and control methods for unmanned aerial vehicles. The agricultural plant protection unmanned aerial vehicle and the novel obstacle avoidance and spraying path planning method aim to overcome the shortcoming that reduction of the lengths of existing paths and reduction of repeated spraying and missed spraying cannot be taken into account by obstacle avoidance algorithms in the prior art. The obstacle avoidance and spraying path planning method includes judging whether straight line sections intersect with obstacle circles or not; generating Dubins paths if the straight line sections intersect with the obstacle circles, determining all optional flight paths and calculating flight path lengths of first paths, the lengths of swerving path, and repeated spraying areas; repeatedly carrying out previous steps until