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The existing method is to use an intelligent robot to carry sensors to collect data and transmit the data to the server in real time. Many intelligent robots have emerged in life; the UAV (unmanned aerial vehicle) is one of them. With the popularization of UAV applications, the security of UAV has also been exposed. In addition to some human factors, there is a major factor in the UAV\u2019s endurance. UAVs will face a problem of short battery life when performing flying missions. In order to solve this problem, the existing method is to plan the path of UAV flight. In order to find the optimal path for a UAV flight, we propose three cost functions: path security cost, length cost, and smoothness cost. The path security cost is used to determine whether the path is feasible; the length cost and smoothness cost of the path directly affect the cost of the energy consumption of the UAV flight. We proposed a heuristic evolutionary algorithm that designed several evolutionary operations: substitution operations, crossover operations, mutation operations, length operations, and smoothness operations. Through these operations to enhance our build path effect. Under the analysis of experimental results, we proved that our solution is feasible.<\/jats:p>","DOI":"10.1155\/2018\/2851964","type":"journal-article","created":{"date-parts":[[2018,9,9]],"date-time":"2018-09-09T23:30:42Z","timestamp":1536535842000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":71,"title":["A Heuristic Evolutionary Algorithm of UAV Path Planning"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4363-2521","authenticated-orcid":false,"given":"Zhangjie","family":"Fu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingnan","family":"Yu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guowu","family":"Xie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yiming","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuanhang","family":"Mao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2018,9,9]]},"reference":[{"key":"e_1_2_10_1_2","first-page":"17","article-title":"Securing Display Path for Security-Sensitive Applications on Mobile Devices Computers","volume":"55","author":"Cui J. 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