Automatic path planning method for underground scene

The invention discloses an automatic path planning method for an underground scene, and the method comprises the steps: obtaining a pre-constructed grid map, and obtaining a proportional relation between a world map and the grid map; obstacle boundary information of the grid map is extracted, and an obstacle vector is generated; generating a collision strength matrix D according to the pre-acquired installation size of the laser radar, the vehicle body size of the vehicle, the motion model of the vehicle and the proportional relation between the world map and the grid map; calculating to obtain a collision intensity graph through the collision intensity matrix D and the obstacle vector, removing points with collision, and reserving areas without collision; path planning is carried out on the collision intensity graph through an A * algorithm, and an optimal global path is generated. The method can be effectively matched with the actual operation condition of the vehicle in the underground roadway, and the act