Optimal Path Planning Method for the Transformer Substation Integrated to Offshore Transmission System

For mobile robots utilizing the traditional A algorithm in path planning within converter station environments, the excessive number of expanded nodes leads to low search efficiency. To address this, an improved A algorithm based on four-way neighborhood search optimization is proposed. Building upon the traditional $A^{*}$ algorithm, the method incorporates weighted heuristic functions using Euclidean distance and multiconstraint integration, while the four-way search optimization reduces both expanded nodes and computation time. Experimental validation through simulated mapping demonstrates that the enhanced A* algorithm achieves significantly higher search efficiency, with fewer expanded nodes, proving more effective for mobile robot path planning.