Unmanned vehicle unknown environment autonomous exploration method and system based on leading edge search tree

The invention discloses an unmanned vehicle unknown environment autonomous exploration method and system based on a leading edge search tree. The method comprises the following steps: establishing an updated voxel grid map according to real-time environment data and pose data of the unmanned vehicle, and extracting effective ground grids; extracting frontier grids in the effective ground grids to form a frontier information set; constructing a frontier search tree based on the frontier information set; traversing the leading edge search tree based on a depth-first search strategy to select an optimal target; performing trajectory planning on a path between the unmanned vehicle and the optimal target; enabling the unmanned vehicle to walk to an optimal target according to a planned track route according to the real-time pose data; and repeating the process until no leading edge grid exists in the voxel grid map, and completing unknown environment exploration. According to the method, the frontier search tree s