Improved A^* Algorithm Based Global Path Planning for Bio-mimetic Robotic Fish

A^* algorithm is improved to solve its low efficiency and non-optimal path.Introducing successor, the improved algorithm is simplified in its time and space complexity, and the planned path is optimized to make it shorter than before.Considering the concavity obstacles, the planning path may get stuck in concavity traps.A back-try method is given to solve the problem, and make the planning path round the trap instead of getting into it.