Improved A* Algorithm based on Multi-Layers and Multi-Constraints

In this study, an improved A* algorithm based on multi-layers and multi-constraints is proposed for solving the problem that A* algorithm must detour when encounters obstacles due to the deficiency of vertical dimension. Detailed obstacle classification and shift method among layers are introduced to make the mathematical environment closer to the real environment and support the calculation of proposed cost function. In the procedure of planning, more interested points are taken into consideration to increase the opportunity of find more reasonable path and achieve lower route cost during approaching the target. Shared forbidden area and shift cost mechanism are set to make sure the trend is right without shift too often. The improved algorithm can provide a better and flexible solution to cross obstacles other than make a detour, so the optimal route find by it has a shorter length than that by the traditional one.