月球车全局路径规划中的A＊算法改进

考虑月球车全局路径规划的应用要求，针对传统A＊算法搜索速度慢和返回路径不够优化的缺点，对算法流程进行改进，减少其时间和空间复杂度，提高其搜索速度，并对返回路径进行优化，有效地缩短了路径。对于存在凹形障碍的地图，采用后退一尝试的方法解决规划失败的问题，并在一次搜索的基础上使用二次搜索策略来实现规划路径的优化，使之绕过凹形障碍趋向目标，从而达到输出最短路径的目的。

Improved A*Algorithm in Global Path Planning of Lunar Rover

For the global path planning of lunar rover, A＊ algorithm is improved to solve its low efficiency and non-optimal path. The improved algorithm is simplified in its time and space complexity, and the planned path is opimized to make it shorter. In a map with concavity obstacles, the planning path may get stuck in concavity traps. A method of back off-try is given to solve the problem. And a strategy called second search, based on the result of the first search, is studied to make the planning path round the trap instead of getting into it.