我的主管告诉我为 A* 算法设计改进/混合启发式。好吧，我正在使用 A* 进行移动机器人的路径规划（pioneer 2dx）。我的问题表示为加权图（权重是从一个节点到另一个节点的欧几里德距离）。现在，我没有得到足够的信息来设计路径规划问题的启发式方法，因为启发式方法因问题而异。
I have read some publications. But, in most of the cases, the mathematical definition of heuristic function is not clear.
Some important things I've figured out on heuristic are- 1) the heuristic must be admissible. 2) the heuristic may be consistent or, inconsistent. 3) an approach for finding out heuristic is pre-calculating heuristic by operating a BFS for each node to goal node.
Now, i want to know about some best techniques to find heuristics for path planning problems using A*. Some examples, idea, mathematical definition or, publication link will help me a lot.