The invention discloses an underground intelligent unmanned vehicle path
planning method and a related device, and the method comprises the steps: S1, constructing a double-grid map, including S1, constructing the double-grid map which comprises a lower basic
grid network, then subdividing the double-grid map into an upper
local map, and recording a position and an adjacent region number; and S2, selecting an initial
local map by applying a
high weight A *
algorithm, evaluating and combining low-cost neighbor cells, and synthesizing a local combined map. And S3, in the local combined map, optimizing the
path cost by using the grid occupation probability through a low weight A *
algorithm, and searching an optimal local path. And S4, circularly executing the steps S2 to S3, and gradually expanding the optimal path until a
global optimal path connecting the starting point to the target point is formed. According to the method, a double-layer grid structure is introduced, the search sequence of the
local map is determined through the high-weight A *
algorithm, the search range of the low-weight A * algorithm is narrowed, path planning is completed within a short time, and a path scheme can be rapidly generated even in a complex and changeable mine environment.