In order to meet the needs for the safe operation of unmanned aerial vehicles (UAV)s in cities, this paper proposes a multi-objective path planning method based on a particle swarm optimization algorithm. Firstly, a complex urban environment model is constructed by using the grid method. Then, taking the total length of the UAV path and the minimum flight risk as objectives, the multi-objective path optimization problem is established under the condition of taking into account the obstacle avoidance requirements and performance constraints of the UAV. Finally, the optimization problem is solved by a multi-objective particle swarm optimization algorithm and the path curve is smoothed by cubic B-spline. The simulation results show that the multi-objective path planning method proposed in this paper is more reasonable than the method that only considers the lowest security risk or the shortest path.

UAV Path Planning Method Considering Safety and Signal Shielding Risk