针对管路布局的效率和精度问题，提出一种基于改进A*算法的管路初始路径计算方法。考虑管路实际布局问题，获取管路的布局平面图。利用MATLAB的图像处理模块完成布局环境特征提取，利用栅格法完成布局空间预处理。基于A^*算法对其搜索方向进行拓展，去除冗余节点并优化路径长度。考虑管路的弯曲约束，构建弯折数和弯曲半径的启发函数筛选路径关键节点，得到一条满足弯折约束和经济性约束的管路初始路径，以减少路径后处理的工作量。相比文献[13-14]，本文算法计算的路径长度减少了3.3%，求解效率提高了28.98%，路径弯折节点减少了14.3%，提高了布局效率。实际布局场景测试表明，相比原A^*算法，改进算法的路径长度同比减少了6.54%，效率同比提高了42.59%。

Aiming at the efficiency and precision problem of pipeline layout, a pipeline initial path calculation method based on improved A* algorithm was proposed. Considering the actual pipeline layout, the product plan was obtained for modeling the pipeline layout space. MATLAB image processing module was used to complete the feature extraction of the layout environment, and the grid method was used to complete the layout space preprocessing. Based on A* algorithm, the search direction was expanded to remove redundant nodes and optimize the path length. Considering the bending constraints of the pipeline, the heuristic function for the number of bends and bending radius was constructed to filter the key nodes of the path, and a pipeline initial path satisfying the bending constraints and economic constraints was obtained to reduce the workload of path post-processing. Compared with other algorithms in literature [13-14], the algorithm proposed in this paper reduces path length by 3.3%, improves solving efficiency by 28.98%, reduces path bending nodes by 14.3%, and improves layout efficiency. The actual layout scenario testing shows that compared to the original A* algorithm, the improved algorithm reduces the path length by 6.54% and improves efficiency by 42.59%.