The application demand for UAV in logistics distribution is vast and its accurate and rapid path planning research has practical value. Nowadays, the RRT algorithm is one of the most popular path planning methods for UAV delivery. Although the search of RRT is fast, the planned path is generally not the optimal path. The improved RRT* algorithm improves the way, but the convergence time is long. In this paper, we proposed an improved 3d path planning method based on RRT* based on APF. We introduced gravitation and repulsion in the APF algorithm based on the RRT* algorithm in this paper, and then we added the random point generated sphere to carry out random sampling of local space. Finally, we used MATLAB to compare the simulation results of the three algorithms and verify that the improved 3d path planning algorithm is improved in the aspects of path optimization and operation time.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.