As global temperatures rise and Arctic sea ice rapidly melts, the development of Arctic shipping has accelerated, posing significant challenges due to the complex polar navigation environment. This paper presents a trajectory planning method that enables rapid planning while ensuring compliance with ship maneuverability requirements. A sea ice risk model based on POLARIS is constructed, followed by the creation of a three-dimensional navigation risk grid map, which is subsequently sliced into two-dimensional maps. The JPS algorithm is employed to identify paths, and key nodes are filtered and pruned. These nodes are then consolidated into a single plane, with duplicates removed, and a roadmap is constructed. The Dijkstra algorithm is used to find the shortest path, which is further optimized by applying constraints on ship maneuverability and navigation corridors using an optimal control model. Experimental results demonstrate that the proposed method generates a path with risks comparable to those produced by the 3D-A* and 3D-JPS algorithms, but is 85 km and 22 km shorter, respectively, with only two turns. The planning time is significantly reduced, and the optimized trajectory exhibits minimal angular acceleration variation. This method effectively plans a safe, short, and maneuverable route for ships navigating polar ice regions.