Unmanned aerial vehicle path planning method and system based on path time cost

The invention relates to an unmanned aerial vehicle path planning method and system based on path time cost, and aims at the shortest path time according to a motion constraint condition, a flight area and obstacle information of an unmanned aerial vehicle, and a node expansion mode and a node cost calculation mechanism in a path search process are designed in a customized manner. And the shortest-time obstacle avoidance flight path of the unmanned aerial vehicle can be generated. 本发明涉及一种基于路径时间代价的无人机路径规划方法及系统，可根据无人机的运动约束条件、可飞行区域和障碍信息，以路径时间最短为目标，通过定制设计路径搜索过程中的节点扩展方式和节点代价计算机制，能够生成时间最短的无人机避障飞行路径。