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提出了一种在大面积规划区域内为运动物体规划一条从起始点到终点的满意路径的方法。首先通过地形分析，把整个规划区域分成不同类型的子区域；其次在规划区域内选择候选点；最后给出了一种带有运动约束和规划规则的A算法获得所需要的满意路径。实验结果表明该方法较好地解决了大区域路径规划所存在的搜索时间过长等问题，并可保证路径的物理可实现性。
A method for planning a moving object from a starting point to an end point in a large planning area is proposed. Firstly, the entire planning area is divided into different types of subareas by topographic analysis. Secondly, candidate points are selected in the planning area. Finally, a satisfactory algorithm is obtained for the A algorithm with motion constraints and planning rules. The experimental results show that the proposed method can solve the problem of long search time in the path planning of large area and ensure the physical realizability of the path.