A path planning method for a moving robot of an irregular shape, comprising the following steps: evenly dividing a 2D workspace of the robot into a topological network T of workspaces, and conducting iterative computations of biological neural dynamics to construct a biological neural network S of the workspaces; forming a kernel matrix according to shape features of the moving robot; conducting convolution computation on the kernel matrix and the biological neural network of the workspaces to obtain a moving state matrix and a rotating state matrix of the robot at network nodes; performing iterative search step by step by using the initial position and direction of the robot in the workspace as initial conditions, and constructing a node tree Tree from an initial state to a target state; and performing reverse search on the node tree Tree to obtain a planned path of the robot. The robot may be of any irregular shape, the three degrees of freedom movement of the robot in a planar space has been considered, and in the convolution computation, a safety coefficient factor is added, the distance between the planned path and an obstacle is controlled, and the safety of the traveling path is adjusted.
PATH PLANNING METHOD FOR MOVING ROBOT OF IRREGULAR SHAPE