Urban low-altitude unmanned aerial vehicle instant distribution scheduling and path planning method

The invention provides an urban low-altitude unmanned aerial vehicle instant distribution scheduling and path planning method considering demand prediction. The method comprises the following steps: establishing a three-dimensional environment map of an unmanned aerial vehicle distribution system by adopting a grid-topology hybrid modeling strategy based on three-dimensional urban environment map data; according to the three-dimensional environment map of the unmanned aerial vehicle distribution system, the starting point and the target point of the unmanned aerial vehicle, the optimal flight path of the unmanned aerial vehicle, the time required by the optimal path and the transportation cost are obtained by using an unmanned aerial vehicle path planning algorithm of space-time improvement A *; and according to the order data, the unmanned aerial vehicle performance parameters, the optimal flight path of the unmanned aerial vehicle, the time required by the optimal path and the transportation cost, using the CNN-LSTM-Attention order prediction model and the task allocation model to output a task allocation scheme including a virtual order and an actual order. Accurate spatial data support is provided for path planning of the unmanned aerial vehicle, the reasonability of low-altitude logistics distribution path planning is improved, and finer data support is provided for urban airspace management.