Research for Bidirectional Path Planning Based on An Improved A* Algorithm

The paths obtained by conventional A* algorithm are usually not the optimal solutions, which have many turning nodes and spend more time. To solve these problems, an improved A* algorithm is presented. First, the proposed algorithm introduced Chebyshev distance into the formula and parent heuristic function; secondly, using a method of bidirectional search paths with dynamic rectangle. The simulation results show that time is reduced by 85.9% and 58.4% comparing with traditional A* algorithm and the other improved A* algorithm. It has been demonstrated that the proposed improved A* algorithm can efficiently solve the shortest path planning problem especially on large grid maps.