A Bi-level A* Path Planning Algorithm for Effectively Avoiding the Obstacle-areas
Yang Zhir · Ship Electronic Engineering · 2014
In the case that path A*planning algorithm falling into local search problems in search process when encountering threat areas,the estimated-cost calculation method of the expansion point is improved and a bi-level planning algorithm based on original A*algorithm is proposed.In the bi-level mechanism,the estimated-cost of the expansion node in the firstlevel is calculated by the outcome of the second-level to make the estimated-cost of search process closer to real cost so to obtain more accurate whole-cost of the current node,thereby guiding expansion of the algorithm to a more appropriate direction,and to improve the search efficiency.Experiments show that in the planning space containing complex threat areas,the algorithm can effectively solve the algorithm encountering threat area into local search problems.