1. Set the start node and target no

1. Set the start node and target node. 2. Create an empty open and close set; 3. At the beginning of the search, the first searched grid point is stored in the open set, and the open set is not empty. The node N with the minimum F value in the Open table is selected and included in the CLOSE table; 4. Determine whether n is the target point. If n is the target point, the optimal path is generated according to its forward pointer; If n is not the target point, the successor node M is generated by extending node N. 5. Create pointer from subsequent node M to n in OPEN table, calculate; 6. If the successor node is in the open set and the value of the existing node is low, the search continues; 7. If the successor node is in the close list and the value of the existing node is low, add the current node to the close list. 8. Remove the occurrence of this successor node from the Open and Close lists, and set the parent of the successor node to the distance estimated by the current node to the target node using a heuristic algorithm, that is, add this successor node to the Open list. 9. Update, and forward pointer of successor node M; 10. Rearrange the f values in the OPEN table in positive order of numeric size and return to Step 3. In this way, the mobile robot finally determines its planning path by repeatedly selecting the optimal value of the evaluation function in the OPEN table.