Unmanned aerial vehicle route planning is a complex multiconstrained multiobjective optimization problem. Due to the complexity of various constraints and the mutual coupling between them, the expression of constraint conditions is not universal and normative. The development, maintenance, and upgrading of an existing route planning system are very difficult. In this article, by establishing the polychromatic sets of aircraft, aircraft equipment, and flight actions, creating the fuzzy relational matrix between equipment and actions and between actions and actions, this article realizes the standardized and generalized expression of the constraint condition of the route planning problem. Then the analysis and inspection of the constraint conditions are realized by the polychromatic sets operation rules.

中文翻译：

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路径规划问题的模糊多色集约束模型

无人机航路规划是一个复杂的多约束多目标优化问题。由于各种约束条件的复杂性以及它们之间的相互耦合，约束条件的表达方式不具有普遍性和规范性。现有路线规划系统的开发、维护和升级非常困难。本文通过建立飞行器、飞行器设备和飞行动作的多色集，建立设备与动作、动作与动作之间的模糊关系矩阵，实现航线规划约束条件的标准化和广义化表达。问题。然后通过多色集运算规则实现约束条件的分析和检验。