In　this　paper,　a　Secure　A*　(SA*)　path　planning　method　based　on　a　dual　resolution　2.5D　layered　raster　map　is　proposed　to　solve　the　problem　of　safe　path　planning　for　mobile　robots　in　uneven　terrain.　Firstly,　a　dual-resolution　2.5D　hierarchical　grid　map　is　designed,　which　uses　the　dual-resolution　grid　to　store　obstacle　information　and　elevation　information　in　the　environment　for　saving　the　storage　space　of　the　map.　Then,　combined　with　the　movement　capabilities　of　the　mobile　robot,　the　elevation　information　in　the　environment　is　converted　into　a　constraint　factor.　And　considering　the　size　of　the　mobile　robot,　the　distance　between　the　mobile　robot　and　the　target　point　is　taken　as　an　adaptive　factor,　and　the　cost　function　of　the　A*　algorithm　is　introduced　to　ensure　that　the　path　of　the　mobile　robot　in　uneven　terrain　conforms　to　its　motion　ability.　Finally,　the　results　of　the　simulation　experiment　show　that　compared　with　the　traditional　A*　algorithm　under　the　3D　raster　map,　this　scheme　can　reduce　the　map　storage　space　by　53.8　%　and　the　path　elevation　standard　deviation　by　63.9　%,　which　can　effectively　ensure　that　the　robot　is　able　to　be　safe　in　uneven　ground.　Copyright　©2022　Control　and　Decision.