The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle avoidance for UAVs is a significant issue for security assurance. In this paper, we construct a comprehensive 3D scenario with obstacles and no-fly zones for dynamic UAV trajectory. Moreover, a novel artificial potential field algorithm coupled with simulated annealing (APF-SA) is proposed to tackle the robust path planning problem. APF-SA modifies the attractive and repulsive potential functions and leverages simulated annealing to escape local minimum and converge to globally optimal solutions. Simulation results demonstrate that the effectiveness of APF-SA, enabling efficient autonomous path planning for UAVs with obstacle avoidance.
@article{arxiv.2501.09338,
title = {Robust UAV Path Planning with Obstacle Avoidance for Emergency Rescue},
author = {Junteng Mao and Ziye Jia and Hanzhi Gu and Chenyu Shi and Haomin Shi and Lijun He and Qihui Wu},
journal= {arXiv preprint arXiv:2501.09338},
year = {2025}
}