Local obstacle avoidance path planning method based on two-dimensional obstacle map processing

The invention provides a local obstacle avoidance path planning method based on two-dimensional obstacle map processing, and the method comprises the steps: designing a distance field calculation formula based on the geometric distance between a robot and an obstacle region, building a distance field cost map, enabling a pixel position in the distance field cost map to represent the cost value of a distance field, and enabling the closer to an obstacle, the higher the cost value. If the accumulated sum of the distance field cost values of the pixel positions corresponding to the nodes in the path is low, it is indicated that the whole path is far away from the obstacle. And an RRT * method with rapidity and geometric distance optimization capability is applied, a path with the optimal cost in the current searching times is found through multiple times of searching, the characteristics of the path searching method are reserved, and a relatively safe distance is further kept between the whole path and the obsta