Fig 1.
Schematic diagram of bidirectional search strategy planning.
Fig 2.
Comparison of Bi-A* algorithm and traditional A* algorithm in path planning.
Table 1.
Comparison of search data between Bi-A* algorithm and traditional A* algorithm.
Fig 3.
Comparison of path planning effect between the optimized algorithm and Bi-A* algorithm in this paper.
Table 2.
Comparison of search data between two algorithms.
Fig 4.
Comparison of path planning effect between the optimized algorithm and Bi-A* algorithm in this paper.
Table 3.
Comparison of search data between three algorithms.
Fig 5.
Construction of simulation platform for tracked transfer vehicle completed by gazebo software.
Fig 6.
Dynamic path planning process based on BAS-A* + DWA algorithm.
Fig 7.
Comparison of initial planning route and dynamic adjustment route in dynamic path planning.