The EBS-A* algorithm: An improved A* algorithm for path planning.

Path planning plays an essential role in mobile robot navigation, and the A* algorithm is one of the best-known path planning algorithms. However, the traditional A* algorithm has some limitations, such as slow planning speed, close to obstacles. In this paper, we propose an improved A*-based algorithm, called the EBS-A* algorithm, that introduces expansion distance, bidirectional search, and smoothing into path planning.