Apath planning method based on multi-attribute map

The invention discloses an A * path planning method based on a multi-attribute map, and particularly relates to a path planning method for improving heuristic function guide node search by constructing the multi-attribute map. The method comprises the following steps: firstly, constructing a multi-attribute grid map, screening high-attribute values, integrating data maps with multiple attributes into a multi-attribute map through normalization and screening processes, and endowing attribute values to grid points; secondly, multi-attribute estimation cost is introduced into the heuristic function, so that the heuristic function can consider the influence of multi-attribute information during path planning, and a planned path is generated by improving the heuristic function; and finally, a B spline curve is combined with an obstacle expansion method to solve the problem of path optimization and the problem of interference between the path and the obstacle. According to the method, the problems that the classica