Four-way shuttle path planning strategy with improved A* algorithm

In this paper, the horizontal path planning problem of cross-roadway four-way shuttle is studied. An improved A* algorithm is proposed in order to further shorten the handling distance and handling time, improve operation efficiency and reduce energy consumption, and overcome the problem that the traditional A* algorithm path is not the optimal path. The algorithm reduces the traditional 8-way search to 4-way search according to the running characteristics of the fourway shuttle, considers the reversing process of the four-way shuttle and the actual length of the different directions of each distance level, and increases the commutation factor and size factor to make the model close to the actual operating condition. The operation time of the improved A* algorithm is reduced by 54.98%, which proves the superiority of the algorithm.