Research on Optimal Path Planning of Wall-Climbing Robot Based on A* Algorithm

Aiming at the problems that exist in efficient and safe path planning for wall-climbing robots in complex environments, this paper proposes an optimal path planning scheme based on an improved A* algorithm. First, this study establishes a Dijkstra-based path planning model according to the task description, and its limitations in computational efficiency and path quality are analyzed. Second, to address these issues, this paper introduces heuristics into the A* algorithm and proposes an improved model structure, which includes selecting heuristic functions and designing initialization functions for the open set. Third, based on the algorithm, this paper builds a multi-objective path scheduling model that considers many factors. This model not only finds the shortest path effectively from the starting point to the endpoint but also reduces energy consumption, enhances security, and optimizes path planning. Simulation and experimental verification prove the effectiveness of the improved A* algorithm proposed in this study in improving the quality of path planning and computational efficiency.