The invention belongs to the field of path planning, discloses a path
planning method based on an adaptive dynamic weighting A star
algorithm, and aims to solve the problems of low search efficiency, multiple redundant nodes,
high memory consumption and the like of a traditional A star
algorithm. According to the method, the path planning effect is optimized through three core improvement strategies: 1, a dynamic weighted scoring strategy: weighted scoring of direction consistency, target guidance and environment constraint is performed on eight candidate directions of a current node, the search direction and number are dynamically adjusted, and the optimal direction is preferentially expanded; secondly, a self-adaptive
heuristic method based on environment scoring is adopted, direction weighted scoring is fused into
heuristic cost calculation, weight factors are dynamically adjusted in combination with the distance between a current node and a target node, and efficient search is guided; and 3, a path redundant node
elimination strategy is adopted, and a path structure is simplified through node duplication removal and continuous node direct connection judgment. The
algorithm execution process comprises four steps of initializing an open
list and a closed
list, searching dynamic nodes, judging target
reachability and outputting path
backtracking. Experimental
verification shows that compared with a traditional A star algorithm and a part of improvement schemes, the method has the advantages that the
path length, the calculation time, the number of expansion nodes and the number of path points are all remarkably optimized, the path is shorter and smoother, the search efficiency and robustness are higher, and the method is suitable for large-scale popularization and application. The method is suitable for complex path planning scenes in multiple fields of logistics distribution,
robot autonomous movement, unmanned aerial vehicle path planning and the like.