Route construction for autonomous ground platforms

The paper considers the navigation support component of the control of a multiagent system, which concerns the construction of individual routes by ground-based autonomous platforms to goals. An extension of the A* algorithm is proposed, which takes into account energy costs, type of coverage, terrain complexity, and speed limits. The algorithm was simulated in a virtual environment with a conditional map. Based on the results of the study, an algorithmic solution for building a ground agent's route to the target is formulated.