Dynamic adaptive security path planning based on A* algorithm

Abstract Aiming at the problems of large memory consumption, long operation time and low security traditional A * algorithm, a dynamic adaptive improved algorithm based on is proposed. Firstly, according to heuristic function proportion obstacles in map, weighting carried out shorten search time. Secondly, jump point (JPS) integrated remove number redundant points improve running speed algorithm. Finally, relative position starting target point, are expanded dynamically keep safe distance between planned path obstacles. In order verify effect, tested different sizes The results show that efficient global planning.