Accelerated A* path planning

The paper addresses the area of path planning for non-holonomic vehicles operating in a large-scale dynamic continuous three-dimensional space where the vehicle has to avoid given obstacles and restricted areas. For vehicles, motion dynamics is defined by means of constraints on the driving manoeuvres and restrictions on smoothness of the trajectory. The paper addresses only the basic spatial path planning problem -- a process searching for a spatial arrangement of the trajectory from the given start position and orientation to the given target position and orientation. Extended problems like incremental planning are not considered by this paper. The dynamic environment means that obstacles' and restricted areas' definitions are altered almost after each particular search.