The invention discloses a path
planning method, device and equipment based on a multi-target unmanned aerial vehicle, and a storage medium, and the method comprises the steps: collecting the geographic
information data of an inspection region, building a planning path
database according to the collected data, and carrying out the preprocessing and optimization of the data; solving an unmanned aerial vehicle path planning model based on a
particle swarm algorithm according to maneuvering characteristics, safety constraint conditions and routing inspection target priorities of unmanned aerial vehicle flight; unconventional obstacles are detected in real
time based on an unmanned aerial vehicle
visual system, and local safety adjustment of a path is achieved; and the updated path is synchronously sent to a remote
client, and path evaluation and manual intervention are carried out. According to the method, the
flight duration, the path smoothness and the path effectiveness are comprehensively considered, the method can adapt to complex environments and inspection requirements, the
particle swarm optimization and the
binocular distance measurement technology are comprehensively applied, the intelligence and the real-time performance of path planning are improved, the flight risk is reduced, and the safe work of the inspection requirements of the unmanned aerial vehicle is guaranteed.