Optimized Hybrid A* Algorithm for Tractor-Trailer Routing in Port Environments

Due to the unique complexity of the port environment, including dynamically changing obstacles and the special motion constraints of tractor-trailers, traditional path planning algorithms face severe challenges. Based on this, this paper proposes an optimized Hybrid A* algorithm for tractor-trailer path planning in port environments. By dynamically adjusting the search strategy and improving the node expansion method, this algorithm effectively adapts to the unique environmental information and motion capabilities inherent in port operations. Its main goal is to improve the efficiency of path planning, thereby significantly enhancing the operational effectiveness of tractor-trailers.