Improvement of data structure for algorithm of heuristic optimization for path planning
启发式最优航迹规划算法数据结构的改进研究

Through improving the process and data structure of A* series algorithm for path planning with multi-restriction actual application, the OPEN list of A* algorithm was mapping to CLOSED list, this paper proposed a box model to manage CLOSED list, which improved the efficiency of seek for repeated nodes, and solved the data visiting conflict when using parallel computing, which made it more suitable for multi-processor programming. Using minimum binary tree to manage OPEN list, which overcome low efficiency sequencing of using traditional chained list and the capacity upper bound of binary heap array. The simulation results show the improved algorithm whether apply to parallel computing of single-threading or multi-threading and the efficiency of search are far more higher than traditional A* series algorithm.