An Improved A* Algorithm for Roadless Networks Based on Triangular Mesh

Abstract

In the path search problem under the roadless environmen such as the wild or remote areas, the existing path planning algorithms still have shortcomings such as slow speed and long planning path; The A* algorithm is efficient and optimal when dealing with node search problems, so it is widely used, but if you want to use the A* algorithm in a roadless environment, you need to divide the environment into a series of square grids or triangular grids. Compared with square grids, triangular grids can better adapt to various terrains and make full use of obstacle data; therefore, this paper proposes an improved A* algorithm based on triangular grids (referred to as TIA* algorithm), hope it can solve the dilemma of the current roadless algorithm. The experimental results show that the TIA* algorithm can realize the path planning under the roadless environmen, and compared with the traditional square grid-based A* algorithm and the RRT algorithm, it can shorten the planning time and the length of path under the premise of ensuring a high success rate.