A-star algorithm for expanding the number of search directions in path planning

In order to solve the problem that the traditional A-star algorithm (square A-star algorithm has 8 search directions, regular hexagon A-star algorithm has 6 search directions) has many inflection points and long path, an improved A-star algorithm is proposed to expand the number of search directions. Firstly, the grid method is used to model the spatial environment that needs path planning. The improved A-star algorithm improves the search direction to 12 search directions. Because the improved A-star algorithm has more search directions and more choices than the traditional A-star algorithm, the total length of the planned path is significantly smaller than the traditional A-star algorithm, compared with the traditional square A-star algorithm and the traditional hexagon A-star algorithm, the total length of the path is reduced by 8.87% and 3.65% respectively. And because the search direction of the improved A-star algorithm is more, the planned path is smoother and the inflection points in the path are reduced.