Application of A* Algorithm Based on Extended Neighborhood Priority Search in Multi-Scenario Maps

Abstract

The robustness of the traditional A* algorithm of path planning is poor due to its excessive number of traversal nodes, slow search speed, and large turning angle. Aiming to solve the above problems, a multi-scenario adaptive A* algorithm based on extended neighborhood priority search is proposed. Firstly, this algorithm designs the heuristic function that can adapt to various scene changes by quantifying the scene map information, and the search weight is adjusted adaptively to enhance the robustness and adaptability of the algorithm. Secondly, the search strategy based on extended neighborhood priority is adopted to improve the orientation of the algorithm, and the redundant node removal strategy is used to smooth the path to reduce the number of traversed nodes and the turning angle. Finally, simulation tests are conducted in several representative map environments. The test results show that the proposed algorithm is superior to the traditional A* algorithm due to its stronger robustness and significantly improved performance metrics, with an 84.95% reduction in the number of traversal nodes, an 83.84% reduction in the number of path nodes, a 62.28% reduction in turning points on the path, a 77.38% reduction in the total turning angle, and a 58.47% reduction in the search time.