The sea ice imposes hinderance and safety risk to the navigation of ships in polar regions. It has long been a challenge for polar ship navigators to efficiently complete designated navigation tasks while avoiding risks of ship-ice collisions and being trapped in ice. A navigation environment information grid field and neighborhood networks are established based on the sea ice thickness and concentration data obtained through data inversion based on the high-tech approaches such as microwave remote sensing and satellite measurement. An improved heuristic search algorithm is employed to propose an innovative judgment model considering both the ice navigation capability of ships and structural safety risks. A systematic framework has been established for automatic polar route planning. The results show that the current method effectively considers the impact of the sea ice environment and the ice navigation capability of ships on route planning. The achievements can help accelerate the practical iteration of automatic polar route planning technology and have high application values in the scenario deduction and efficiency evaluation of polar equipment navigation missions.