This is an algorithm of path planning which combines RRT* and APF.
If you use the code in your research, please cite:
@inproceedings{zhao2020path,
title={Path planning of UAV delivery based on improved APF-RRT* algorithm},
author={Zhao, Yongqiang and Liu, Kai and Lu, Gaohan and Hu, Yuru and Yuan, Shuwen},
booktitle={Journal of Physics: Conference Series},
volume={1624},
number={4},
pages={042004},
year={2020},
organization={IOP Publishing}
}