Unmanned aerial vehicle patrol path planning method for national parks and natural reserves

The invention discloses an unmanned aerial vehicle patrol path planning method for national parks and natural reserves, and the method comprises the following steps: 1, inputting three-dimensional topographic data, generating a bounded three-dimensional region, and requiring an unmanned aerial vehicle to complete a visual coverage task after traversing all path points; 2, taking the flight path of the unmanned aerial vehicle as an optimization target, adding constraint conditions of unmanned aerial vehicle traversal path points, unmanned aerial vehicle electric quantity limitation and unmanned aerial vehicle self-service charging line planning, and establishing an unmanned aerial vehicle path planning model; and step 3, under the unmanned aerial vehicle path planning model established in the step 2, solving by using a branch and bound algorithm and combining linear relaxation and greedy algorithms to obtain a traversal path of the unmanned aerial vehicle. The problem that unmanned aerial vehicle patrol monito