Dynamic grid map updating method based on three-dimensional obstacle pixel object mapping

The invention provides a dynamic grid map updating method based on three-dimensional obstacle pixel object mapping. The method comprises the following steps that a three-dimensional voxel map of an existing initial static scene is loaded; a robot local end uploads real-time laser data and pose information, and a server node establishes voxel maps of different obstacle objects in a three-dimensional scene; the server node issues a grid map of different dynamic obstacle objects including speed and coordinate information according to obstacle avoidance rules such as shapes and sizes of different robots; at the same time, the server node complements obstacle laser point cloud data and evaluates and iteratively updates the reliability of the predicted point cloud to complete dynamic probability grid map mapping based on the obstacle object; and the robot local end subscribes to own obstacle map and completes implemented path planning and obstacle avoidance. According to the method, the robot can make full use of t