In order to improve the quality of UAV application in highway pavement construction, the study firstly establishes the mathematical model and formation model of pavement construction UAV. Then a path planning algorithm based on improved RAPA is designed, which optimizes the search process by combining the jump point search algorithm. And the loopback force is introduced into the artificial potential field method to improve the local minimum problem, which is applied in planning path and obstacle avoidance. Finally, the sliding mode path tracking control law is designed for the motion model and attitude model of the pavement construction UAV respectively to ensure the accurate tracking of the construction path by the pavement construction UAV formation. The study is simulated and verified in MatlabR2018a, and the three UAVs are able to ensure smooth obstacle avoidance with smooth paths, continue to track the target effectively, and maintain a safe distance of more than 100m from all obstacles. The engineering application results of 8 pavement construction UAVs show that the proposed path planning method can carry out the pavement construction path planning in each material area, and the unmanned milling machine fleet can automatically avoid obstacles and guarantee the milling efficiency during the operation. In order to further guarantee the construction safety, the application effect of unmanned machine is improved through the measures of selecting the best unmanned machine equipment, making good planning and designing of aerial photography operation, making good use of the results of aerial photography, and enhancing the integration of technology and other means.
