Research on fire escape path planning based on improved A* algorithm

In view of the fact that the planned path of the traditional A
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algorithm in the fire map may be close to the fire area, which is not conducive to the escape of personnel on the scene, the heuristic cost of the algorithm is improved. In the improved algorithm, when the nearest fire point of the path is less than three safe distances, the heuristic cost adds the safe distance cost to make the planned path away from the fire area; when the distance is long, it is still the traditional A
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algorithm. The simulation results show that the path planned by the improved A
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algorithm is far away from the fire area compared with the traditional A
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algorithm.