An Enhanced Hybrid Astar Path Planning Algorithm Using Guided Search and Corridor Constraints

Aiming at the problems of large search space, unstable computational efficiency, and lack of safety of generated paths in complex environments of traditional HybridA* algorithms, this paper proposes an improved HybridA* algorithm based on Voronoi diagrams and safe corridors (GCHybridA*) to overcome these challenges. The method first reduces ineffective node expansion by constructing a Voronoi path away from obstacles and smoothing it, followed by selecting key guidance points to provide stage-like goals for path search. Then, an innovative safe corridor is generated and the path search is restricted to the safe corridor area to guarantee the safety of the path, and an adaptive step-size mechanism is designed to balance the search efficiency and path quality. The experimental results show that the GCHybridA* algorithm significantly outperforms the conventional HybridA* algorithm, with an average reduction of 83.7% in node expansions while maintaining zero potential collision points across all four typical maps. This study provides an innovative and robust solution for efficient and safe path planning in autonomous driving systems. This study provides an innovative and robust solution for global path planning in autonomous driving systems, focusing on static environment navigation with safety guarantees.