基于多策略融合的改进A*路径规划算法OA

Aiming at the problems of the traditional A* algorithm,such as low search efficiency,high path redundancy,and strong tortuosity in complex environments,an improved A* algorithm based on multi-strategy fusion was proposed.An adaptive neighborhood search mechanism was designed,which dynamically selected the neighborhood structure and adjusted the heuristic function weight according to the local obstacle density.A heuristic function incorporating the ideal path area constraint was intro-duced,and the triangular area of the path deviation area was calculated.The key inflection points were extracted from the planned path,and tangential smoothing was performed based on the adjacent path vectors to generate a continuous arc path.The experimental results show that compared with the tradi-tional A*,RRT,and PSO algorithms,the improved algorithm is competitive in many indexes such as path search efficiency,length,and smoothness.