Research on global path planning of electric disinfection vehicle based on improved A* algorithm

Aiming at the shortcomings of A* algorithm in the path planning process of electric disinfection vehicles, such as long planned paths, low one-way search efficiency, and unsmooth inflection points, an improved two-way A* search algorithm is proposed from the heuristic function and search direction. First, the cosine factor is introduced into the heuristic function of the A* algorithm to optimize the direction of the path search. Second, the search neighborhood is expanded, and the 24-neighbor search is used to obtain a better path. Finally, the one-way search from the start point to the end point is changed to a two-way simultaneous search. The experimental results show that the path distance planned by the improved A* algorithm is shortened by 9.13%, the time is shortened by 38.21%, and the inflection point is reduced by an average of 30.34%. (C) 2021 The Author(s). Published by Elsevier Ltd.