Time parameterized route planning method and system for unmanned aerial vehicle in unknown environment

The invention provides a time parameterized route planning method for an unmanned aerial vehicle in an unknown environment. The method comprises the following steps: S1, performing feasible path search in an unknown environment by using a sampling-based RRT algorithm, performing redundant point elimination after judging the contribution rate of sampling points, and performing fitting smoothing ona sampling-based RRT path by using a piecewise Bezier curve function to obtain a spatial airway; and S2, performing time parameterized optimization on the space airways obtained in the step S1 to enable the space airways to have unmanned aerial vehicle airway properties, achieving balance between airway execution time and airway state output by introducing weight factors, and finally outputting time parameterized planned airways. The invention further provides a time parameterized route planning system for the unmanned aerial vehicle in the unknown environment. The method has the beneficial effect that the unmanned ae