Research on UAV path planning algorithm based on improved virtual spring method

Aiming at the path planning problem of unmanned aerial vehicle（UAV）and the problems of target unreachability and easy oscillation of narrow channels in the path planning process of the virtual spring model （VSM），a UAV path planning algorithm that can improve the virtual spring method is proposed. Firstly，the repulsive force formula between the UAV and the obstacle and the traction formula between the UAV and the target point are established to complete the local path planning of the UAV. Secondly，the concept of boundary force is introduced into the virtual spring method to solve the problems of easy oscillation and target unreachability in the narrow channel of UAV. Finally，the effectiveness of the proposed method is verified in combination with simulation experiments. The results show that，compared with the traditional virtual spring model and the improved virtual spring model，the proposed UAV path planning algorithm can form a smoother path for UAV path planning in the narrow channel environment，and enable the UAV to reach the target point smoothly when the target is not reachable，which is able to plan UAV paths in a relatively complex environment.