Abstract: In order to make a mine detection robot better understand the environment information in the access planning process, a grid topologic map was provide d to be a map model to express the local environment obstacle in the mine space and could express the metric information and show the location relationship informatio n.In the map model, based on active growth element, a feasible access network generation method of the grid Voronoi map applied, the robot could not only plan an ac cess to rapidly reach the target, but also could ensure a ollision avoidance driving access of the robot.The experiment showed that the map model could make the min e detection robot rapidly establish the obstacle map of mine space and the conventional planning trap problem in the local access planning which could be solved with a high planning efficiency.