Robot reinforcement learning path planning method based on improved A algorithm

The invention discloses a robot reinforcement learning path planning method based on an improved A * algorithm, and belongs to the technical field of path planning. The method is characterized by comprising the following steps: step a, establishing a grid map of a target environment, and initializing the grid map and an algorithm; b, the obstacles are expanded; c, introducing a penetration factor to improve an evaluation function of the A * algorithm; step d, training a robot path planning reinforcement learning model; e, performing path planning on the robot by using the trained model; and f, the robot works at the bottom of the tank through the planned path. According to the robot reinforcement learning path planning method based on the improved A * algorithm, on the basis of the A * algorithm and reinforcement learning, an obstacle neighborhood algorithm is designed, a penetration factor is introduced into an A * algorithm evaluation function, and the evaluation function is redefined, so that invalid explo