  The package contains the implementation code of different pathfinding algorithms, as well as the relevant experimental simulation result diagrams as a reference, which can be opened in MATLAB software and run.
	
  This paper innovates on the basis of the traditional A* algorithm, and proposes a path planning algorithm combining the improved A* algorithm and the artificial potential field method. Based on the A* path planning algorithm, a search node generation method that is more suitable for high-speed mobile robots is proposed, including an improved extended step strategy and node calculation in line with robot kinematics, and the cost function of A* algorithm is optimized to solve the optimal space-self problem so that it can meet the kinematics and dynamics requirements of the robot.
  In order to verify the real performance of the algorithm, it is also necessary to combine the artificial potential field method on the basis of improving the A* algorithm, and use the real-time and dynamic nature of the artificial potential field method to compensate for the local path planning performance of the A* algorithm, effectively deal with unknown obstacles around the UAV, and smoothly reach the target point.