The invention provides an unmanned aerial vehicle three-dimensional
airway planning method based on space compression and table-lookup calculation, and mainly relates to the field of
airway planning, in particular to the field of unmanned aerial vehicle three-dimensional
airway planning. Unmanned aerial vehicle online rapid three-dimensional airway planning is achieved. On the basis of the standard A*
algorithm, jump extension of the similar sparse A *
algorithm is adopted, child nodes are changed to plane
discretization distribution, and by means of a way of optimal compression in the height direction, the relative relation between the child nodes and a father node is calculated in advance, tabulated and stored; the table is looked up to obtain a value for each time of extension, the search space
data structure is improved, the planning space can be repeatedly used during repeated airway planning, and the reinitialization time is saved. According to the method, on the basis of reserving the advantages of an original
algorithm, the number of the nodes is greatly reduced, the algorithm efficiency is improved, and the replanning ability of the algorithm is improved.