Optimized A * algorithm route planning by integrating gravity information
Jingwen ZONG, Peng CAI, Guojun ZHAI, Hairong ZHU, Cheng CHEN, Ruichen PAN
Systems Engineering and Electronics . 2025, (4): 1327 -1334 .  DOI: 10.12305/j.issn.1001-506X.2025.04.29