The application discloses a low-altitude unmanned aerial vehicle
route setting method and device, acquires airspace data; the airspace data is standardized, and standard airspace data is obtained; the standard airspace data is input into a space-time graph neural network, and an airspace use
heat map is obtained; based on the airspace use
heat map and airspace structure data, a
mixed integer quadratic programming model is constructed and solved, and an initial
route network is obtained; the initial
route network is iteratively optimized through a
neighborhood search algorithm, and a final main route network is obtained. Through the space-time graph neural network, the dynamic airspace
heat map is generated, so that the main route network can be dynamically adjusted according to the flow fluctuation, thereby solving the problems of low efficiency in the peak period and idle resources in the valley period in the high-density area; meanwhile, based on the route network generated by the heat map and the optimization
algorithm, the unmanned aerial vehicle can autonomously plan a
branch route at the end of the main route, get rid of the response
lag of centralized scheduling, and realize distributed flexible response to low-frequency and sudden areas.