Abstract

With the continuous expansion of unmanned aerial vehicle (UAV) applications, generating near-optimal paths and achieving effective obstacle avoidance in complex environments remain highly challenging tasks. To address the problems of multi-objective path planning and obstacle detection for UAV flight missions in orchard environments, this paper proposes a novel hybrid algorithmic framework named NeuroJPS-A. The main scientific contribution is the synergistic integration of neural combinatorial optimization, 3D-JPS, and adaptive APF, enabling task-aware obstacle avoidance and closed-loop trajectory adjustment. This method introduces neural combinatorial optimization from the TSP into the 3D-JPS algorithm, optimizing the search mechanism of the traditional JPS and further shortening the UAV’s globally planned path length. In addition, this study integrates the proposed algorithm with the APF to solve the local dynamic obstacle avoidance problem. Quantitative results show that NeuroJPS-A reduces path length by 10% and the number of turns by 47.8% in 2D, and achieves a 24.9% shorter path and 22% of A*’s computation time in 3D. To verify the performance of the proposed method, comprehensive simulation experiments were conducted. The experimental results demonstrate that the NeuroJPS-A algorithm enables UAVs to quickly and effectively generate optimal planned routes, ensuring safe navigation in complex orchard environments and preventing collisions during flight missions.

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