2024
DOI: 10.1109/access.2024.3372573
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A Hybrid Path Planning Method Based on Improved A* and CSA-APF Algorithms

Ju Gao,
Xiangrong Xu,
Quancheng Pu
et al.

Abstract: In order to address the challenges of global path planning in complex and dynamic environments, where avoiding dynamic obstacles is difficult, and local paths are prone to getting stuck in local optima, this paper proposes an enhanced hybrid path planning approach based on improvements to the A* algorithm and the Artificial Potential Field (APF) algorithm. Firstly, addressing the issues of redundant path nodes and non-smooth paths generated by the A* algorithm, we introduce enhancements such as weighted heuris… Show more

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