Path planning method and system

The invention discloses a path planning method and system. The method comprises the following steps: preprocessing the positions of grid points of collapse jump points in a uniform grid map; acquiringstarting point and ending point positions; when an optimal composite main sequence path needs to be searched between a starting point and an end point, searching the optimal path by adopting contact-search, and pruning when a starting child node is generated in a connection process and/or when a jump point is expanded in a search process; by combining the pruning process with the optimal prioritysearch of the A * algorithm, constructing and storing the optimal path between the starting point and the terminal point. The problems of information loss, speed limitation and the like in the priorart are solved, and the search speed is increased. 本发明公开一种路径规划方法及系统，该方法包括以均匀网格地图中塌缩跳点的网格点所在位置进行预处理；获取起点和终点位置；在起点与终点之间需要寻找最优复合主序路径时，采用connect-search搜索最优路径，在连接过程生成起始子节点时和/或在搜索过程扩展跳点时进行剪枝；经过将上述剪枝过程与A*算法的最佳优先搜索结合，构建起点与终点之间的最优路径并存储。