Optimal path planning based on A* algorithm for submarine mining vehicle Yuheng Chen, Hongyun Wu, Qiru Sui, Yinghao Chen, Rongyao Wang, Bei Chen, Bingzheng Chen, Jingwei Li, Boling Yin and Chunlai Wang MATEC Web Conf., 309 (2020) 04006 Published online: 04 March 2020 DOI: 10.1051/matecconf/202030904006