PATH PLANNING DECISION METHOD FOR UNMANNED AERIAL VEHICLES

摘要

The present invention relates to a method to determine a flight route of an unmanned aerial vehicle (UVA), capable of providing a service for a plurality of service spots in a predetermined area. According to the present invention, the method to determine a flight route of a UAV comprises: a step of allowing a route determination device to acquire location information of a region of interest (ROI) where a plurality of service spots are included, location information of the service spots, and deadline information of the service spots; and a step of allowing the route determination device to determine a target spot to be visited from candidate spots, which are a crossing point not visited by the UAV among a plurality of crossing points in the ROI. The ROI is divided by a virtual grid, the crossing point is a spot where straight lines forming the grid are met, and the UAV performs service for at least one service spot within a predetermined reference radius from the crossing point among the service spots. A route determination apparatus determines the target spot based on the deadline of the service spot, and a moving time from a current location to a target spot.