The invention discloses a real-time
route planning method based on a
decision tree. The method comprises the following steps: firstly, a low-altitude airspace
probability model is established, a three-dimensional continuous space is expressed by using a discrete two-dimensional space, namely, a planning space is expressed as a discrete grid chart with a certain
longitude difference and
latitude difference, a dangerous area is divided into a no-fly area and a high-
risk area, and then the cost value of each node in the model is calculated; secondly, initial
route planning is carried out, a
direct flight path and a fly-around path are planned for a high-
risk area, only the fly-around path is planned for a no-fly area, a
route decision tree is generated, and an initial route set is determined; according to the actual situation in flight, the planned route set is selected, and the planning result is updated in real time. Threatening factors such as
terrain obstacles and
severe weather are comprehensively considered, and the method is
safer; the route decision-making tree comprising a plurality of routes is planned in consideration of uncertainty of
prior information of a dangerous area, and the method is more practical; and according to the actual situation in flight, the planning result is updated in real time, which is more flexible.