Enhanced Center Constraint Weighted A* Algorithm for Path Planning of Petrochemical Inspection Robot

In many practical applications of robot path planning, finding the shortest is critical, while response time often overlooked but important. To address problems search node divergence and long calculation in A* routing algorithm large scenario, this paper presents a novel center constraint weighted (CCWA*). The heuristic function modified to give different dynamic weights nodes positions, are changed specified direction during expansion process, thereby reducing number nodes. An adaptive threshold further added enhance adaptiveness algorithm. verify effectiveness CCWA* algorithm, simulations performed on 2-dimensional grid maps sizes. results show that proposed speeds up process reduces planning multi-obstacle environment compared with conventional