Unmanned aerial vehicle path planning method based on improved artificial potential field algorithm and application thereof

The invention discloses an unmanned aerial vehicle path planning method based on an improved artificial potential field algorithm and application thereof, and the method comprises the following steps: S1, building an environment model in the flight process of an unmanned aerial vehicle; s2, planning the path of the unmanned aerial vehicle based on the environment model established in the step S1 by using an improved artificial potential field method; s3, smoothing the unmanned aerial vehicle path planned in the step S2; by modifying a repulsive force potential field function in the artificial potential field method, the repulsive force potential field is not purely determined by the positions of the unmanned aerial vehicle and the threat source, but is jointly determined by the distance between the target point and the unmanned aerial vehicle and the distance between the threat source and the unmanned aerial vehicle, so that a better air route can be planned, threat avoidance at the minimum cost is achieved,