Abstract: Methods and systems for unmaned aerial vehicles (UAV) swarm path planning based on potential field optimization. The method incorporates considerations of inter-UAV interaction forces, a collision risk calculation mechanism based on safe distance angles, and an auxiliary target point strategy. The system calculates collision risk by linearly dividing the safe distance angle between the UAV and obstacles. When the risk exceeds a threshold, the system generates two auxiliary sub-target points and selects the point closest to the flight start point as the optimal sub-target, guiding the UAV to avoid obstacles by applying auxiliary gravity. When the risk is below the threshold, the UAV is unaffected by repulsive forces. Therefore, frequency of heading angle changes of the drone in a swarm drone group is reduced based on the collision risk value comparisons.