Rapid trajectory planning method for unmanned vehicle

The invention discloses a rapid trajectory planning method for an unmanned vehicle, belongs to the field of rapid path planning, and solves the problems of large calculated amount and high hardware requirements of unmanned vehicle trajectory planning in the prior art, and adopts the technical scheme that the method comprises the steps of: constructing an environment map, obtaining robot moving environment coordinate information through a sensor to form a map model, and primatizing the map model by using grids; setting a starting point coordinate P0 (x0, y0) and an end point coordinate P1 (x1, y1); determining a current point Pi (xi, yi), and judging whether eight neighborhood points of the current point are obstacles or not; and determining a next track point by adopting a midpoint comparison algorithm and an A-Start (A*) algorithm according to whether the obstacle is the obstacle or not. The method is small in calculation amount and low in requirement for a hardware platform. 本发明公开一种无人车快速轨迹规划方法，属于快速规划路线领域，解决