The invention discloses an eVTOL cluster collaborative task and charging
planning method based on space-time uncertainty, and the method comprises the following steps: S1, building an eVTOL dynamic model based on the flight dynamic characteristics of a four-rotor eVTOL, and building an eVTOL
energy consumption and charging model based on the
motor system efficiency and the battery
discharge characteristics; s2, collaborative
decision making and dynamic adjustment are carried out through
reinforcement learning algorithms based on double-layer DQN, navigation point coordinates are output, and the
reinforcement learning algorithms based on the double-layer DQN comprise an outer-layer DQN agent decision
algorithm and an inner-layer DQN agent decision
algorithm; s3, inputting the navigation point coordinates into an A *
algorithm, and generating an optimal reference path by the A * algorithm according to a multi-dimensional cost function; s4, dynamically adjusting the course angle and the
flight speed of the eVTOL according to the optimal reference path by utilizing a PID (
Proportion Integration Differentiation) controller until the eVTOL reaches the target node; through multi-agent collaborative decision and
online optimization, the space-time uncertainty in the urban airspace is effectively dealt with, and the maximization of the eVTOL cluster operation efficiency and
economic benefits is realized.