Abstract: Low-altitude route planning and infrastructure constitute important research directions in the low-altitude economy.To further enhance the application of real-scene 3D modeling in urban digital transformation and provide a sustainable 3D digital foundation for low-altitude economic growth, this paper proposes a low-altitude route planning algorithm based on RRT+Floyd, supported by real-scene 3D data, tailored for complex urban environments.Experiments are conducted in the eastern high-tech zone and northern built-up area of Jinan city, evaluating route planning at four altitudes (30, 80, 120, and 300 m).Five metrics(route length, node count, smoothness, average turning angle, and maximum turning angle)are compared with the traditional RRT algorithm.Results show that the proposed algorithm significantly improves planning efficiency and speed in low-altitude airspace, particularly in class W airspace.

Key words: low-altitude economy, low-altitude air route planning, real-scene 3D, RRT, Jinan