Aiming at the problem that the visual obscuration of the unmanned aerial vehicle（ UAV） because of obstacles in some environment

the failure of the UAV to capture a certain dynamic obstacle at a certain moment

or the limitation of the perceived space of the unmanned ground vehicle（ UGV）

a path planning method based on map matching in air-ground systems is proposed. In this method

a global map is constructed on the UGV platform using image stitching techniques for ground images taken by the UAV. Meanwhile

a local map is constructed using a two-dimensional lidar sensor sensing environment of a UGV. In order to reduce the amount of calculation and make the plan has real-time performance and effectiveness

the extracted feature sets of the global and local maps are matched by least squares method. Finally

the A*algorithm is used to calculate the global optimal trajectory

and the dynamic window method is used to adjust local path. Feasibility and effectiveness of the above method are verified by experiments.