An unmanned aerial vehicle inspection route planning method and system

Abstract

The application provides a kind of unmanned aerial vehicle inspection route planning method and system, it is related to route planning field.The method comprises: obtaining the environment data of airspace to be flown and shooting task parameters, and the airspace is treated with three-dimensional grid, constructs airspace grid map with three-dimensional coordinate index;The airspace to be flown is divided into multiple height levels, and the corresponding basic inspection route path is generated on each height level;On this basis, the transition point between different height levels is calculated, a three-dimensional candidate inspection route path is generated, and a shooting point is determined by evaluating the adaptability of the shooting point.Introduce reinforcement learning model, evaluate the cost of the nodes in the candidate inspection route path and select the nodes, optimize the path structure, obtain the optimal inspection route path and the inspection shooting point, and solve the technical problem that the prior art cannot simultaneously consider flight path optimization and inspection shooting adaptability in the route planning process.

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