The invention discloses a path
planning method of an improved A*
algorithm based on graph preprocessing. Due to problems of complexity of map modeling and the like, path-finding efficiency is greatly reduced (as shown in Figure 1) due to large calculation amount and high redundancy of a traditional A*
algorithm, and a large amount of performance consumption is caused. Due to the limitation of
neighborhood search in a grid map, the traditional A *
algorithm cannot actually realize the optimal path in the global sense. In order to solve the problems, firstly, an improved Maklink graph method is used for decomposing a
free space on a map into a plurality of
convex polygon areas, then all the areas are coded into feature nodes, finally, an optimal area channel is solved based on the principle of an A * algorithm, and a globally optimal path solution is obtained in the channel. The problems that a traditional A * algorithm is low in
neighborhood search efficiency, the planned path is not optimal and the like are solved, and compared with other common algorithms, the proposed algorithm has remarkable advantages in the aspects of planning speed,
path length, stability, completeness and the like.