A UAV trajectory planning method considering arrival time constraints

The invention relates to an unmanned aerial vehicle route planning method considering arrival time constraint, and belongs to the technical field of flight path planning. Aiming at the problem that an unmanned aerial vehicle arrives at a target area at a designated moment, an arrival time constraint model and a flight path planning model are established. On the basis of the SAS algorithm idea, a specified voyage sparse A* search (GRC-SAS) algorithm is provided. In the method, a cost function and a convergence condition of the SAS algorithm are designed, so that a flight path result meets the arrival time constraint; and a node expansion scheme is improved to further improve the search efficiency of the algorithm, so that an unmanned aerial vehicle flight path meeting the constraint is quickly generated. The technical problem to be solved by the invention is as follows: according to the actual task requirement, the unmanned aerial vehicle flight path is obtained based on the appointed voyage sparse A* search algorithm, and the method has the advantages of meeting complex constraints and generating feasible flight paths in a short time, wherein the complex constraints comprise arrival time constraints, unmanned aerial vehicle kinematic constraints and obstacle avoidance constraints.