A* ALGORITHM FOR MULTI-OBJECTIVE PATH PLANNING BASED ON COMPLEX TERRAIN CONSTRAINTS

In order to better solve the path planning problem in complex environment, the multi-objective A * algorithm of special unmanned vehicle under the influence of multi constraints such as elevation information, terrain slope and surface type is studied. The known environmental information was classified and established into grid maps of different information layers, which were superimposed to form a 2. 5-dimensional fusion grid map. The path multi - objective optimization function was established according to different constraints, and the cost function of A * algorithm was improved according to the optimization objective. The entropy method was adopted to comprehensively evaluate multiple paths obtained by the improved A * algorithm, screening out the path with the best multi-objective optimization effect. The simulation results show that in the simulated complex environment, the path planned by the improved A * algorithm can achieve the optimization effect in terms of length, stability, unmanned vehicle driving time and concealment. It is verified that the improved algorithm is feasible for the multi-objective optimization of unmanned vehicle path under the constraint of complex terrain.