Research on planning algorithm for 2D flight pipeline based on density constraint SAS

The optimization indices and constraints of flight pipeline planning was established, the method of extracting and clipping terrain was proposed, and the model of flight pipelines in two dimensions was established. By proposing the definition of density constraint, SAS was improved to DCSAS, and the complexity of DCSAS was analyzed. The simulation result proved that DCSAS, comparing with SAS, has an evident superiority in global searching ability, which will solve the problem of flight pipeline planning in two dimensions.