Research on multipath planning problems based on an improved LPA* algorithm
Guan‐Yu Chen, Yuan Tan, Guangjun Zeng, Fen Tang, Wenlu Zhou · 2024
In this study, we propose an improved LPA* (Lifelong Planning A*) algorithm for multi-path planning tasks. This algorithm adds a step of path priority division based on the initial LPA algorithm and performs path planning in priority order. The study divides the planned paths into higher priority and lower priority, where the higher priority paths have less variation, ensuring the stability of the routes, while the lower priority paths have more variation. During the planning process, weighted processing is introduced for the nodes of the already planned higher priority paths to avoid conflicts between paths of different priorities and maintain the stability of the higher priority paths.