HIGHLIGHTS
- What: In this paper aiming at improving the accuracy and robustness of the generated a global programming based on optimization is proposed while maintaining the efficiency of the traditional A Firstly turning penalty function and obstacle raster coefficient are integrated into the search cost function to increase the adaptability and directionality of the search to the map. In response to the issue of paths potentially traversing through sparse obstacles, this study has designed and optimized an efficient search strategy. Other research has detected nodes with obstacles around moved the node to a grid in the opposite direction . . .
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