In the past few decades, many results have been achieved in the research of mobile robot
path planning, and they have been applied in simple scenarios, such as factory AGV, bank
guide robot. However, path planning in highly dense and complex scenarios has become an
important challenge for applications. Robots face dense map and complex obstacles and
hardly find out an optimal path within a reasonable period, such as unmanned vehicles in
freight ports and rescue robots in earthquake environment. Therefore, a multi-obstacle path …