An obstacle-informed A-Star algorithm in grid-map environment path planning

This paper presents an obstacle-informed A* algorithm that incorporates obstacle positioning to optimize path planning, diverging from traditional A* and Dijkstra algorithms that focus solely on distance. The proposed method integrates a novel penalty function, dependent on a cost factor B, to reduce node traversal by avoiding areas dense with obstacles. Although less effective in complex terrains due to B settings, a methodology for B determination is provided. Simulation tests on grid maps with varied obstacles validate the algorithm's effectiveness.