Abstract:When the artificial potential field method is employed for unmanned aerial vehicle (UAV) path planning, there are often some problems, such as unreachable targets, repeated motion trajectories, and large path lengths. The traditional artificial potential field method fails to adjust the repulsion coefficient according to the specific information of the environment, while the existing improved methods cannot take into account the planning effect and planning time while adaptively adjusting the repulsion coefficient. To solve the above problems, this study proposes a UAV path planning method based on the adaptive repulsion coefficient with the help of deep learning. Firstly, the most suitable repulsion coefficient sample set in a specific environment is found by integrating a genetic algorithm and the artificial potential field method. Secondly, a residual neural network is trained with the sample set. Finally, the repulsion coefficient adapted to the environment is calculated by the residual neural network, and then the artificial potential field method is used for path planning. Simulation experiments show that the proposed method solves the abovementioned problems in path planning with the artificial potential field method to a certain extent. It has excellent performance in planning effect and planning time and can well meet the requirements for current environment adaptation and rapid planning in UAV path planning.