The invention provides a multi-target
route planning and united searching method of a
drone in an urban low-altitude environment, and belongs to the technical field of
drone route planning. The method comprises steps of firstly, based on a static-state known obstacle, constructing a static-state safe index map, and based on an obstacle which is actively detected by the
drone in a
flight process and is not marked in a geographical map, constructing a dynamic state safe index map on an airborne platform; and then, based on offline searching and online searching, solving and optimizing a multi-target
route planning problem of
flight time and
flight safety of the drone in an united manner. According to the invention, a path costing little from a start point to a termination point is planned in an offline manner; when an unknown obstacle is detected, a changed
flight track is planned in an online manner through online searching, so a dynamic obstacle is avoided; and there is a quite small searching space in the online searching, so a safe route can be planned again from the drone rapidly, so requirements on real-time planning of routes for drones are met.