Work

Hybrid A-Star Path Planning Method Based on Directional Guidance and Segment-Based Heuristic Weighting

Year: 2025

Type: article

Abstract: To improve the planning efficiency of the Hybrid A-Star algorithm in facility-based agriculture environments, we propose a novel method that integrates directional guidance and segment-based heuristic weighting. Jump point search (JPS) is first employed to generate a reference path, from which key jump points and their heading angles are extracted to guide node expansion. The path is then segmented into straight and turning segments, each assigned dynamic heuristic weights to form a segment-wise heuristic sequence. Simulation results show that, while maintaining comparable path lengths, the proposed method significantly improves computational efficiency, reduces node expansion, and enhances overall path smoothness. These results highlight the proposed method’s effectiveness for path planning in autonomous mobile platforms operating within agricultural facilities.

Source: Applied Sciences

DOI: 10.3390/app152212298

Authors: Sanqiang Zhang, Qize Guo, Wei Liu, Hongbin Kang, Dianjian Wu, Hongyu Zhou

Institution: Hubei University of Technology

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,896