Abstract: Aiming at the problems of large number of traversal nodes, large turning angle, and slow search speed of the traditional A* algorithm, a multi-scene adaptive improvement A* algorithm based on fitting-first search is proposed. Firstly, the heuristic distance of the parent node is introduced to reduce the number of traversal nodes and improve the search speed, the scene map information is quantified, and the adaptive control principle is used to achieve the timely adjustment of the heuristic weight to enhance the robustness of the algorithm. Secondly, the heuristic strategy of fitting-first search is used to further enhance the heuristic of the algorithm. Thirdly, the path is smoothed through local pruning and redundant node deletion to reduce the number of traversed nodes and the turning angle. Finally, a simulation test is carried out on Matlab, and the test results show that the proposed algorithm has fewer traversed nodes, smaller turning angle, and faster search speed.

Key words: A* algorithm, path planning, adaptive, fitting-first, path smoothing