Research on Path Planning of Hexapod Robot Based on an Variable Efficiency A* Algorithm

In order to solve the problem of autonomous path planning for hexapod robots, this paper proposes a variable efficiency A* algorithm based on the classic A* algorithm. This algorithm is based on the classic A* algorithm by introducing the weight coefficient w(n) into the cost evaluation function, which can dynamically change the efficiency of the A* algorithm, thereby optimizing the classic A* algorithm. On the MATLAB experimental platform, through the simulation of the variable efficiency A* algorithm, the results show that the algorithm reduces the path planning time of the hexapod robot. Finally, the algorithm is applied to the hexapod robot under the LOBOT brand for field experiments. The experimental results show that the algorithm dynamically adjusts the weight w(n), which significantly improves the path planning efficiency, reaching a maximum of 71.6%. The purpose of autonomous motion planning for foot robots.