提出一种以动力学模型为基础的电力线路巡检飞行机器人运动规划方法,采用随机优化的思想解决有限时间内不完整系统的问题,本质上是一种在快速扩展随机树算法的基础上融入飞行机器人动力学模型的运动规划算法,初步解决了电力线巡检飞行机器人运动规划问题.运用Matlab工具进行仿真实验,验证了方法的可行性和有效性. A motion planning method based on dynamic model for power line inspection flight robot is proposed. Stochastic optimization method is used to solve the problem of incomplete system in finite time. In essence, this method is based on the rapid expansion of stochastic tree algorithm The motion planning algorithm of the flying robot dynamics model initially solves the motion planning problem of the power line inspection flying robot.The simulation experiment is carried out with Matlab tool to verify the feasibility and effectiveness of the method.