A Disaster Relief UAV Path Planning Based on APF-IRRT* Fusion Algorithm

Unmanned Aerial Vehicle (UAV) path planning has increasingly become the key research point for civilian drones to expand their use and enhance work efficiency. Focusing on offline derivative algorithms, represented by Rapidly-exploring Random Trees (RRT), are widely utilized due high computational However, deploying these algorithms in complex changing disaster environments presents its own drawbacks, such as slow convergence speed, poor real-time performance, uneven generation paths. In this paper, Artificial Potential Field -Improved (APF-IRRT*) path-planning algorithm is proposed, which applicable relief UAV cruises. The RRT* adapted with adaptive step size search range coupled APF final path-cutting optimization. This guarantees efficiency while giving target directivity of extended nodes. Furthermore, achieves remarkable progress solving problems speed unsmooth good performance both static online dynamic environment planning.