{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T14:41:26Z","timestamp":1782830486397,"version":"3.54.5"},"reference-count":46,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2024,10,16]],"date-time":"2024-10-16T00:00:00Z","timestamp":1729036800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Identification and digital mapping of physical properties of the Martian surface","award":["E2C1051700"],"award-info":[{"award-number":["E2C1051700"]}]},{"name":"Identification and digital mapping of physical properties of the Martian surface","award":["XDA0430103"],"award-info":[{"award-number":["XDA0430103"]}]},{"name":"Strategic Priority Research Program of the Chinese Academy of Sciences","award":["E2C1051700"],"award-info":[{"award-number":["E2C1051700"]}]},{"name":"Strategic Priority Research Program of the Chinese Academy of Sciences","award":["XDA0430103"],"award-info":[{"award-number":["XDA0430103"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IJGI"],"abstract":"<jats:p>In field driving activities, off-road areas usually lack existing paths that can be directly driven on by ground vehicles, but their surface environments can still satisfy the planning and passage requirements of some off-road vehicles. Additionally, the existing path planning methods face limitations in complex field environments characterized by undulating terrains and diverse land cover types. Therefore, this study introduces an improved A* algorithm and an adapted 3D model of real field scenes is constructed. A velocity curve is fitted in the evaluation function to reflect the comprehensive influences of different slopes and land cover types on the traffic speed, and the algorithm not only takes the shortest distance as the basis for selecting extension nodes but also considers the minimum traffic speed. The 8-neighborhood search method of the traditional A* algorithm is improved to a dynamic 14-neighborhood search method, which effectively reduces the number of turning points encountered along the path. In addition, corner thresholds and slope thresholds are incorporated into the algorithm to ensure the accessibility of path planning, and some curves and steep slopes are excluded, thus improving the usability and safety of the path. Experimental results show that this algorithm can carry out global path planning in complex field environments, and the planned path has better passability and a faster speed than those of the existing approaches. Compared with those of the traditional A* algorithm, the path planning results of the improved algorithm reduce the path length by 23.30%; the number of turning points is decreased by 33.16%; and the travel time is decreased by 38.92%. This approach is conducive to the smooth progress of various off-road activities and has certain guiding significance for ensuring the efficient and safe operations of vehicles in field environments.<\/jats:p>","DOI":"10.3390\/ijgi13100362","type":"journal-article","created":{"date-parts":[[2024,10,16]],"date-time":"2024-10-16T10:11:04Z","timestamp":1729073464000},"page":"362","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Research on Global Off-Road Path Planning Based on Improved A* Algorithm"],"prefix":"10.3390","volume":"13","author":[{"given":"Zhihong","family":"Lv","sequence":"first","affiliation":[{"name":"School of Marine Technology and Geomatics, Jiangsu Ocean University, Lianyungang 222005, China"},{"name":"Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, China"},{"name":"Institute of Aerospace Information Innovation, Chinese Academy of Sciences, Beijing 100094, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Li","family":"Ni","sequence":"additional","affiliation":[{"name":"Institute of Aerospace Information Innovation, Chinese Academy of Sciences, Beijing 100094, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongchun","family":"Peng","sequence":"additional","affiliation":[{"name":"School of Marine Technology and Geomatics, Jiangsu Ocean University, Lianyungang 222005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kefa","family":"Zhou","sequence":"additional","affiliation":[{"name":"Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dequan","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Shandong Agricultural University, Tai\u2019an 271000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guangjun","family":"Qu","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing 100020, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weiting","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Marine Technology and Geomatics, Jiangsu Ocean University, Lianyungang 222005, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yue","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Shandong Agricultural University, Tai\u2019an 271000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qing","family":"Zhang","sequence":"additional","affiliation":[{"name":"Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, China"},{"name":"Institute of Aerospace Information Innovation, Chinese Academy of Sciences, Beijing 100094, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,10,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ma, B., Liu, Q., Jiang, Z., Che, D., Qiu, K., and Shang, X. 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