Abstract:Based on the characteristics of the unmanned aerial vehicle (UAV) navigation system, the UAV cannot locate accurately in the navigation process, which results in positioning errors. If the accumulated positioning error over time cannot be corrected in time, the UAV cannot reach the intended destination, which will lead to the failure of the flight mission. In order to avoid this situation, the problem of fast path planning of UAV considering the positioning error was studied in this paper. A mixed integer programming model was established, which took the shortest path distance as the goal and considered the correction constraint of the positioning error and the path constraint. According to the characteristics of depth-first search (DFS) algorithm and backtracking algorithm, the heuristic DFS+backtracking algorithm was designed to solve the problem, and based on the algorithm, the simulated annealing mechanism was added to optimize the quality of the solution. Taking the data of a certain flight area as an example, the simulation results show that the heuristic DFS+backtracking algorithm can solve the problem of the UAV path planning considering the positioning error quickly and effectively.