关键词: 电势理论, 综合威胁场, 三维航迹规划, 威胁回避, 无人机（UAV）

Abstract: A modified potential theory is utilized to plan for three-dimensional path for UAV. After fully considering the terrain threat and the threat of the fire and radar appearing at the same time, their weights’ inflection on path planning is studied. By limiting distance from the routes to the straight-line including task’s starting and ending points, it is not only to overcome the potential method’s problem of no converging to target, but also to short flight range. It studies the affection of various factors’ different weights of penalty function on the flight routes to select the optimal weight coefficients. It shows that through the simulation experiments, the method can successfully design safety flight path for UAV.

Key words: potential field theory, comprehensive threats field, 3 dimensional flight planning, threat avoidance, Unmanned Aerial Vehicle（UAV）