Multiple routes planning for A^* algorithm based on hierarchical planning

In order to avoid setting operating parameters and generate multiple routes steadily, a multiple routes planning for the A^* algorithm based on hierarchical planning is proposed. The hierarchical planning is introduced to divide the planning process into two parts, the initial route planning and the fine route planning. In the initial route planning, many feasible routes are obtained by setting the middle route point and the A^* algorithm, then the hierarchical clustering method is presented to obtain the initial reference route so as to avoid the weakness of K-means clustering sensitive to the initial clustering center. In the fine route planning, a variable width path planning channel is designed, and the final multiple routes are obtained by planning in the channel. Simulation results prove the feasibility of the algorithm.