Multitarget Real-Time Path Planning Using Double Adaptive A Algorithm

MTRT is an extension of path planning that aims to traverse multiple targets in an unknown environment at the lowest cost. The MTRT is governed by the “multitarget” demand leading to a rather extensive search space and the “real-time” requirement that imposes fast planning. However, the traditional path planning algorithm A* is notoriously inefficient in large spaces. Therefore, spurred by the low efficiency of A* for MTRT, this article proposes the DAA, which implements an adaptive multitarget heuristic function and an adaptive node expansion method to accelerate planning. The suggested method is evaluated utilizing the following two approaches to establishing the search space: 1) decompose MTRT into traditional path planning problems and involve one target at a time; 2) consider all unsearched targets while planning. Simulations in discrete grid maps demonstrate that DAA provides at least equivalent searching paths to A* and other algorithms, but at much less running time.