This study suggests an enhanced A* algorithm to address the issues of numerous traversal nodes, numerous inflection points, and huge turning angles in the path planning of the traditional A* algorithm. The traditional A* algorithm is first improved in this paper's heuristic function and search efficiency using dynamic weighted averaging; next, the path planning of the traditional A* algorithm is smoothed using Bezier curves; and finally, the effect of the improved A* algorithm is tested in the built scene using gazebo simulation software and ROS system. The outcome demonstrates that the modified A* algorithm has superior path planning capabilities compared to the traditional A* algorithm.
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