Mixed path planning method for intelligent mowing robot

According to the intelligent mowing robot mixed path planning method provided by the invention, an internal spiral algorithm and an A star way-finding algorithm are combined, so that blindness of path searching is avoided, searching time is shortened, mutual compensation under constraint conditions is achieved, and the quality and efficiency of an intelligent mowing robot path planning solution are improved. Compared with a single path planning method, when the intelligent mowing robot encounters an operation dead point, an A star way-finding algorithm is utilized, the search space is reduced, the nearest point is quickly found in the remaining non-operation area, the dynamic planning and obstacle avoidance functions are achieved, the real-time performance and safety in the movement process of the intelligent mowing robot are guaranteed and the object of comprehensively and orderly mowing the grass by the intelligent mowing robot is fulfilled. 本发明提供一种智能割草机器人混合路径规划方法，本发明将内螺旋算法和A星寻路算法相结合，避免了搜索路径的盲目性，减少了搜索时长，达到在