The present invention relates to a method for detecting paths based on a hierarchical graph. The method for detecting paths based on a hierarchical graph according to the present invention comprises: a primary graph abstraction step of configuring a target space as a grid map, dividing areas to set a starting point and a target point, defining each point of the divided area as a basic hub and generating a primary abstraction graph; a secondary graph abstraction step of defining a point having a high connecting centrality among points of each area of the primary abstraction graph as a basic hub, and connecting the basic hub to generate a second abstraction graph; a graph detecting step of detecting a shortest path between the starting point and the target point in the second abstraction graph; and a specification step of projecting the path detected in the graph detecting step into the grid map to specify the same. The method for detecting paths based on a hierarchical graph according to the present invention abstracts a graph in a hierarchical way to detect the shortest path, such that time cost can be minimized, and efficiency can be increased.
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