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In this paper we consider the modifi cation of the method of planning the A-star path for transport and aerospace robots. It is necessary to take into account obstacles in the local neighborhood of aerospace robot, but not suffi cient for the rational path planning. The essence of the modifi cation is to use additional information about the features of original cell array. This additional information is represented by binary fl ags. They represent obstacle-free rows and matrix columns. Thedoi:10.5937/jaes17-23621 fatcat:nbav53knijaghjbicqmki7i2ee