
1The description of the Astar_and_DWA folder is as follows:
This folder is the simulation source code for the Improved A* and Improved Fusion algorithms used in subsection 5 of the manuscript, running in a Python 3.9 environment.


2The description of the wzt_catkin_wsfolder is as follows:
This folder is the source code for the Improved A* and Improved Fusion algorithms used in subsection 6 of the manuscript running on the ROS system.  The experimental environment is a 64-bit Ubuntu 18.04 operating system running on 8GB of RAM, and the experimental platform is ROS (Melodic).