Three-dimensional-laser-based obstacle bypassing method

The invention provides a three-dimensional-laser-based obstacle bypassing method, belongs to the field of path planning, and the three-dimensional-laser-based obstacle bypassing method is used for obstacle bypassing processing of a three-dimensional laser emitted by a laser emitter mounted on a mobile platform. The three-dimensional-laser-based obstacle bypassing method comprises: determining a plane coordinate value of an obstacle on a road surface; determining the proportional relationship of the mobile platform with respect to the road surface, and expanding the obstacle on the plane coordinate value according to the proportional coefficient; periodically scanning the obstacle for a preset number of times based on the three-dimensional laser, correcting the probability of occurrence ofthe obstacle, and determining the occurrence of the obstacle based on correction results; according to the occurrence of the obstacle, combining an A* algorithm to plan a travel route of the mobile platform, and travelling ac