This paper analyzes the scene of UAV executing path monitoring task in dangerous environment, and puts forward a method for UAV path selection in dangerous environment. In the proposed method, the operator mode and the agent operator mode are provided, and the model checking tool prism is used to model and verify the path selection scene of UAV. In normal environment, the UAV performs the path selection under the operator mode, and counts the number of successful and failed photographing of UAV. When the UAV reaches the harsh environment area and loses contact with the operator, the UAV path in the past is analyzed through the agent operator mode, the judgment of the operator is simulated to enable the UAV to continue to carry out the path monitoring task. The UAV road condition monitoring scene in dangerous environment is analyzed and verified from different scales and different operator characteristics.

分析了无人机在危险环境下执行路径监测任务的场景，提出了一种无人机在危险环境下的路径选择方法。该方法提供了算子模式和代理算子模式，利用模型检验工具prism对无人机的路径选择场景进行建模验证。正常环境下，无人机在操作员模式下进行路径选择，统计无人机拍摄成功和失败的次数。当无人机到达恶劣环境区域并与操作员失去联系时，通过代理操作员模式分析过去的无人机路径，模拟操作员的判断，使无人机能够继续执行路径监控任务。