A path planning method for unmanned autonomous vehicles based on Improved A* algorithm
Gaoyang Xie, Yanan Li, Liqing Fang, Xujun Su · 2023
Different kinds of unmanned autonomous vehicles need to travel at different speeds in different operations. In order to accomplish this task, a path planning algorithm is improved in this study, which can be applied to unmanned autonomous vehicles with different speed conditions This algorithm is an improvement on the traditional $\text{A}^{\star}$ path planning algorithm. Firstly, the traditional four-direction search is changed into a multi-direction search. Secondly, the restriction condition of maximum Angle is added in the process of searching adjacent points. Finally, we get A more suitable $\text{A}^{\star}$ search algorithm. Using MATLAB, the improved $\text{A}^{\star}$ algorithm can solve the path planning problem under the requirements of different speeds $(30\text{k}\text{m}/\text{h}, 45\text{k}\text{m}/\text{h},60\text{k}\text{m}/\text{h})$.