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UAV needs sensor to fly in an environment with obstacles. However, UAV may not be able to move forward when it encounters a large obstacle, or UAV will be in a dangerous state when the sensor fails briefly which disturbed by the environment factors. In order to solve these problems, the following methods are proposed in this paper. Aiming at the first problem, this paper proposes an improved APF method for path planning, and verified by simulation experiments that this method can find the optimal path. Aiming at the second problem, this paper proposes a solution to expand the range of obstacles and dynamically change the distance in the APF repulsion function. It is verified that the UAV can fly safely within the short time of the sensor problem by simulation experiments. In conclusion, this paper has an important reference value for the application of UAV online dynamic path planning in engineering.

Research on path planning of multi-rotor UAV based on improved artificial potential field method