Suitable for terrain constraints UAV traffic pattern layout method

The present invention discloses a method of scheduling these landing UAV suitable terrain constraints, belonging Path Planning art. The context of the present invention may exist in more terrain obstacles in the vicinity of the airport landing UAV route from the current starting arranging method, a limited clearance in the airport area, local conditions, according to the switching of the distance D between the waypoints, landing gear the maximum time T, steering angle and other factors routes constitute a neighboring search constitution candidate waypoint routes, making takeoff and landing UAV autonomous flight safety. The present invention is the addition of a retractable landing gear observation point M, to improve the security capabilities of the UAV; the desired safety retractable landing gear is set to the maximum time constraint, the operation of the retractable landing gear weakened no heading machine control coupling; arranging method of the present invention provides a simple, easy to operate.