Fig.1

Environmental scenarios"

Fig.2

Principle diagram for finding optimal boundary point"

Fig.3

Principle diagram of finding new boundary points"

Fig.4

Traditional A-star algorithm flowchart"

Fig.5

Algorithm framework diagram"

Fig.6

32 neighborhood search directions"

Fig.7

Schematic diagram of safe distance search point"

Fig.8

Linear guidance path analysis"

Fig.9

Principle diagram of focusing on 16 neighborhood search direction"

Fig.10

Special circumstance"

Fig.11

Distance assessment"

Fig.12

Obstacle coherence processing"

Fig.13

Path planning after processing special circumstances"

Fig.14

Improved A-star algorithm flowchart"

Fig.15

Experimental simulation map"

Table 1

Distribution of starting and target points in simulation maps"

Table 2

Parameter settings"

Fig.16

DIA-star simulation results in map 1"

Fig.17

IAPF simulation results in map 1"

Fig.18

IA*-APF simulation results in map 1"

Table 3

Map 1 simulation result data"

Fig.19

Simulation results of three algorithms in map 2"

Table 4

Map 2 simulation result data"

Table 5

Comparison in map 2  %"

Fig.20

Simulation results of three algorithms in map 3"

Table 6

Map 3 simulation result data"

Table 7

Comparison in map 3  %"

Fig.21

Map of special circumstance"

Fig.22

Map after obstacle coherence processing"

Table 8

DIA-star algorithm obtained simulation result data of special circumstance map"

Fig.23

DIA-star algorithm obtained path of special circumstance map"

Fig.24

Simulation results with three algorithms after coherence processing"

Table 9

Simulation result data after coherence processing"