To avoid the limitation of common route planning method to blindly pursue higher Machine Intelligence and
autoimmunization, this paper presents a human-machine cooperation route planning method. The proposed method
includes a new A* path searing strategy based on dynamic heuristic searching and a human cooperated decision strategy
to prune searching area. It can overcome the shortage of A* algorithm to fall into a local long term searching.
Experiments showed that this method can quickly plan a feasible route to meet the macro-policy thinking.
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