Unmanned vehicle path planning method considering map complexity

The invention relates to an unmanned vehicle path planning method considering map complexity, and aims to solve the problems of low search efficiency, node redundancy, excessive fragmented paths near a target point and the like in path search of a traditional method. The method comprises the following steps: randomly scattering points in a grid map, obtaining the number of effective nodes in the whole map, and calculating the map complexity; random point scattering is carried out in a certain range with the nearest node as the circle center to obtain regional complexity, a node generation mode is selected through the regional complexity, the problem that a traditional method is prone to being caught in rigidity in search is solved, and the search efficiency is improved; a target distance and a target iteration frequency are introduced, collision-free detection and distance judgment of a new node and a target node are carried out, and the number of nodes and fragmented paths are reduced; and finally, reverse o