A Route Planning for Oil Sample Transportation Based on Improved A Star Algorithm

Aiming at the problems of sharp path turning points, weak search directionality, and excessive number of calculation nodes in the traditional star algorithm when planning paths, the angle constraint, the way guide strategy, and the path search step size of the A star algorithm are improved. Firstly, the angle constraint of the evaluation function is introduced, and the right angle is changed to an obtuse angle, and the path smoothness, path search time and path length are optimized. Secondly, on the basis of deright-angled paths, the introduction strategy of party guidance is introduced to enhance the directionality of path search and further shorten the path search time. Finally, on the basis of the above two improved algorithms, a method of improving the step size is proposed to simplify the number of nodes of the path obtained by improving the star algorithm. The simulation experiment results show that the improved star algorithm can quickly plan a smooth path with short distance and less planning time