The existing artificial potential field method is prone to fall into local minimum and unable to escape from it when the UAV confronts some typical continuous obstacles (U-shaped, L-shaped, line-shaped, etc.).To solve the problem, the mathematical model of the electric potential field is used, and the concept of simulated equipotential line is added to the existing artificial potential field method.The repulsive force function of typical continuous obstacles is redefined, and an improved artificial potential field method based on the simulated equipotential line is presented.The method is able to escape from local minimum, and is then applied to the UAV's path planning.The rationality of the improved algorithm is verified by simulation experiments.While maintaining the advantages of high speed and simple implementation of the artificial potential field method, the problem of the UAV's path planning with the artificial potential field method when the UAV is faced with continuous obstacles is solved.