In view of the limitation that the grid map constructed by the traditional method can not accu-rately reflect the obstacle crossing ability of the search and rescue platform,this paper divides the actual environment into obstacle area,obstacle crossing traffic area and barrier free area,and establishes a two-dimensional grid map containing three types of environmental characteristics according to the traffic weight.Considering the limitation of inconvenient turning of obstacle crossing platform in the process of obstacle crossing,this paper proposes an improved A*algorithm,which optimizes the algorithm by taking the number of path turns and turning angle as part of the cost evaluation function.Finally,the traditional A*algorithm and the improved A*algorithm are compared.The experimental results show that compared with the traditional algorithm,the path planning cost of the improved algorithm is improved,and the path length,turning times and turning angle are greatly reduced.It is more suitable for the search and rescue platform with obstacle crossing ability.
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