For indoor path planning for mobile robot in particular scenario with multiple U-shape obstacles, traditional A ^* algorithm has some problems such as ignoring the actual size of robot and long computational time. An improved A ^* algorithm was proposed to solve these problems. Firstly, a neighborhood matrix was introduced to perform obstacle search, improving path safety. Then, the effects of different types and sizes of neighborhood matrices on the performance of the algorithm were studied and summarized. Finally, heuristic function was improved by combining the angle information and the distance information (calculated in different expressions when situation changes) to improve the calculation efficiency. The experimental results show that the proposed algorithm can obtain different safety spacing by changing the size of obstacle search matrix to ensure the safety of different types of robots in different environments. Moreover, in the complex environment, compared with traditional A ^* algorithm, path planning speed is improved by 28.07%, and search range is narrowed by 66.55%, so as to improve the sensitivity of the secondary planning of robot when encountering dynamic obstacles.

In order to effectively improve the Quality of Service (QoS) of wireless sensor network-based distribution network and further enhance the real-time and reduce the delay in a distribution network, a multi-channel scheduling strategy based on priority was proposed. First of all, a Link routing algorithm Based on Minimum Hop Spanning Tree (LB-MHST) was proposed to overcome the radio frequency interference and ensure the service quality of the smart grid according to the information of real-time channel state. Then, according to the different delay requirements of different data packets in the distribution network, the priority of data transmission was considered, which effectively improved the data transmission efficiency of the sensing node and further satisfied the QoS requirements in the distribution network. The experimental results show that the proposed algorithm can improve the real-time performance by 12 percentage points, 15.2 percentage points and 18 percentage points, compared with the Minimum Hop Spanning Tree (MHST) algorithm, under the cases with one channel, 8 channels and 16 channels.