In order to realize the path planning in 3 D terrain

the gridmap based on elevation information is established

and the D

*

Lite algorithm based on two-dimensional is improved; the elevation difference between adjacent nodes is introduced into the cost function of the traditional D

*

Lite algorithm

and the maximum slope of climbing and the maximum slope of rolling limit the extension direction of path

while the climbing coefficient and the rolling coefficient are set up to balance the length and safety of the path

and to avoid the planning path passing through dangerous areas with large slope. In the simulation environment

the relevant parameters are adjusted

and the comparison of the planning path and the re-planning when obs

tacles encountered show that the improved algorithm can effectively balance the path length and safety in three-dimensional terrain.