A-star algorithm is a kind of simple path planning algorithm without solving the calculus, which has a high application. However, compared with other path planning algorithms, it occupies a large memory space. To solve this problem, this paper proposes three new concepts such as the bidirectional search, a guide line and a list of key points. A-star algorithm is optimized and rasterize on indoor environment modeling method, finally through the MATLAB simulation experiments prove that the optimized algorithm feasible experimental results show that the improved algorithm in target different under the two kinds of experiment are able to reduce memory footprint by more than 60%.

A-star算法是一种无需求解微积分的简单路径规划算法，具有很高的应用性。但是，与其他路径规划算法相比，它占用了大量的内存空间。为了解决这个问题，本文提出了双向搜索、指导线和关键点列表等三个新概念。A-star算法在室内环境建模方法上进行了优化和光栅化，最后通过MATLAB仿真实验证明优化后的算法可行，实验结果表明改进后的算法在目标不同的两种实验下能够减少更多的内存占用超过 60%。