1. Qi, Y., Li, L., Li, Z.: Research on path planning of underground rescue robot based on improved artificial potential field method. J. Xuzhou Inst. Eng. (Nat. Sci. Ed.) 34(04), 32–37 (2019)
2. Liu, Y., Lv, W., Wang, G., et al.: Summary of logistics path planning for terminal UAV. Logist. Technol. 38(06), 135–140 (2019)
3. Fan, S., Chen, M., Ding, N.: Obstacle avoidance route planning and simulation of agricultural plant protection UAV based on fluid disturbance algorithm. Agric. Eng. Technol. 38(09), 51–54 (2018)
4. Guo, Y., Wang, X.: UAV path planning based on improved quantum particle swarm optimization. Ship Ocean Eng. 45(01), 99–102 (2016)
5. Hart, P., Nilsson, N., Raphael, B.: A formal basis for the heuristic determination. IEEE Access (1968)