Track planning is one important factor of UAV mission planning. To aim at the shortage currently existing in track planning, a method of track planning based on improved PH curves is proposed. The characteristic of PH curves' continuous curvature is combined with the fast search of particle swarm optimization algorithm, by which choosing PH curves' control point is optimized. The optimal PH path that avoids the obstacles in the environment meets the constraint of maximum curvature, and continuous curvature can be obtained quickly. Simulation results show the validity of the method.

unmanned aerial vehicles  /  track planning  /  PH curves  /  particle swarm optimization