Rotor unmanned aerial vehicle coverage search flight path planning method for polygonal region having no-fly zone

The invention relates to a rotor unmanned aerial vehicle coverage search flight path planning method for a polygonal region having a no-fly zone, wherein the method comprises the steps: step 1, determining a coverage direction, wherein the direction from a polygon width-corresponding top point to edge is a coverage direction for realizing shortest-path polygon region coverage searching; step 2, transforming a coordinate, taking an X axis of a new coordinate system (OX'Y') as a coverage direction, and making an origin point of the new coordinate system (OX'Y') the same as an origin point of an original coordinate system; step 3, according to the transformed to-be-covered polygon region and obstacle, carrying out Boustrophedon searching unit decomposition; step 4, determining an alternative optical grating line search flight path set of each searching unit; step 5, determining the sequence and the flight path of each searching unit of the unmanned aerial vehicle based on a greedy strategy; and step 6, carrying