Research on Improved A? Algorithm Path Planning Based on Bidirectional Search
In order to improve the search efficiency of A∗ algorithm and ensure the optimality of paths,an improved A∗ algorithm based on bidirectional search is proposed.The current nodes of forward and reverse search are mutual target points for bidirectional search.Firstly,the weighted Manhattan is introduced as the distance heuristic func-tion,and the weight ratio of the cost function is dynamically adjusted to ensure the real-time performance and path superiority of the algorithm.Secondly,in order to solve the problem of local path optimization in bidirectional path search,the deviation from the optimal distance is added as a cost factor in the heuristic function.Simulation results show that the algorithm has higher search efficiency and less cost of traversing nodes and paths,which verifies the effectiveness of the algorithm.
A∗ algorithmbidirectional search strategydeviation from the optimal distancedynamic weightingpath planning
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