Abstract: Aiming at the traditional A* algorithm which has the problems of traversing a large number of child nodes, the bottom of the search degree of freedom, and the path search efficiency caused by the large angle of the search direction, the research is carried out, and an improved A* algorithm is proposed. Firstly, in increasing the number of nodes and deleting the repetitive directions, a 16-neighborhood search method is formed, which enlarges the search angle. Then, the search interval is locally adjusted by using the direction informat...
