Modified A-star algorithm for modular plant land transportation

Many common path optimization algorithms are available. However, problems arise when a general route optimization algorithm is applied to land transportation of large cargo, such as a modular plant. The large and heavy structure of a modular plant can lead to a loss of time depending on the curve of the road. This problem is more critical when traveling through large turns, which may also cause mechanical problems. Therefore, curves are essential parameters for modular plant land transportation. In this research, we show the importance of angles in the path via multi-body dynamic simulations and finite element analysis. Based on these results, we constructed a pathfinding algorithm that considers the importance of angles. The traditional A-star algorithm considers only distance as a cost, whereas our modified A-star algorithm considers both distance and angle as costs. Our goal is to improve traditional A-star algorithms and optimize them for modular plant land transportation.