Ice region navigation sea ice obstacle avoidance path generation method based on marine radar image

The invention discloses an ice region navigation sea ice obstacle avoidance path generation method based on a marine radar image, and the method comprises the steps: recognizing a ship position, a short-term target position and a sea ice navigation impeding region through the marine radar image, and reconstructing an ice region navigation scene; and in combination with a bidirectional fast extended random tree B-RRT algorithm and a greedy algorithm, generating a relatively simple path, and providing a small-scale sea ice obstacle avoidance path generation method. Compared with the navigation route design that a sea ice model or an ice map is adopted to carry out large-scale ice area water area navigation, and weather and sea conditions of the ice area water area are changed, a small-scale sea ice obstacle avoidance path is still needed to carry out auxiliary decision support. Because the small-scale ice region navigation decision time is limited, the method provided by the invention has randomness, can quickl