Improved path planning method and system based on skeleton potential field and skeleton channel

The invention discloses an improved path planning method and system based on a skeleton potential field and a skeleton channel. The method comprises the following steps: constructing a scene two-dimensional grid map; preprocessing the two-dimensional grid map to obtain a binary map; traversing all pixel points with non-zero pixel values in the binary map to generate a skeleton; calculating an Euclidean distance from a passable area in the binary map to a nearest obstacle and an Euclidean distance from the passable area to a nearest skeleton, and constructing a skeleton potential field according to the Euclidean distances; searching an initial path on the skeleton according to a given starting point and a target point, and expanding points around the initial path to form a skeleton channel; the A * algorithm is improved based on the skeleton potential field, and the search space of the A * algorithm is reduced into a skeleton channel; and searching a global path in the skeleton channel through a given starting