Rugged terrain environment-oriented hexapod robot motion planning method

The invention discloses a rugged terrain environment-oriented hexapod robot motion planning method, and relates to the field of path planning and trajectory planning of robots. A rugged terrain environment grid map is constructed by adopting a three-dimensional matching algorithm and a space decomposition method based on supporting points, a motion path of the hexapod robot is obtained by combining three-dimensional map information and utilizing a Twood-point visual model theory to guide RRT path planning, path optimization is carried out by utilizing a path optimization algorithm of a B spline curve, and a smooth motion path of the hexapod robot is obtained; a combined triangulation algorithm is adopted to obtain a terrain three-dimensional model, a planed advancing path is combined to establish a landing function, and a learning method of a support vector machine is utilized to obtain the landing function and a landing point selection strategy; a landing point is selected, trajectory planning is conducted o