为解决传统路径规划算法在复杂定线制水域适应性差的问题，基于航行规则与良好船艺要求构建统一路径规划模型，将无碰撞约束、交通流向约束与特殊区域通航规则纳入求解框架；基于电子海图（Electronic Navigational Charts，ENC）数据建立定线制水域双层图网络，上层表征航路拓扑与规则约束，下层表征由安全水深、障碍物与禁航区约束共同定义的可航空间，并提出适应双层图网络模型的数字环境自主生成方法；构建双层混合A*搜索算法实现分层规划，通过几何约束路径生成处理航向转换限制及环形道等特殊区域的空间约束。仿真结果表明所提方法在保证合规性与避障安全的同时可提升规划效率。

To address the poor adaptability of traditional path planning algorithms in complex traffic separation scheme waters, this study establishes a unified path planning modelbased on navigation rules and good seamanship requirements. The model incorporates collision-free constraints, traffic flow direction constraints, and special area navigation rules in-to the solution framework. A two-layer graph network is constructed using Electronic Navigational Chart data: the upper layer represents route topology and regulatory constraints, while the lower layer represents the navigable space defined by safe water depth, obstacles, and prohibited areas. An autonomous digital environment generation method adapted to the two-layer graph network model is proposed. A two-layer hybrid A* search algorithm achieves hierarchical planning, handling heading change limitations and spatial constraints in special areas such as roundabouts through geometrically constrained path gene-ration. Simulation results demonstrate that the proposed method improves planning efficiency while ensuring compliance and collision avoidance safety.