When using traditional artificial potential field（APF）method to plan flight path of four-rotor UAV

there is a problem that it is easy to fall into local minimum solution

and will lead the four-rotor UAV can’t reach the target location according to expected requirements.To solve this problem

an improved artificial potential field method is proposed.Firstly

by adding the distance between the track point and the target point into the repulsive potential field function

at the same time

the coordination force is introduced

to solve the minimum value problem of traditional artificial potential field method.Secondly

the proposed algorithm is verified in three kinds of U-shaped slot obstacle environment.Lastly

in the same obstacle environment

the planned track is compared with the ant colony algorithm.The simulation results prove the effectiveness and superiority of the improved algorithm.