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

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