Hierarchical A* Pathfinding

http://cg.skeelogy.com/hierarchical-a-pathfinding/
This shows hierarchical A* search in action. The robot finds the pre-computed shortest path from the current waymarker to the user-selected waymarker. The pre-computation is done using A* search, which gives a guaranteed shortest path.

If the selected waymarker is in another room, the robot will find the shortest path in terms of rooms (e.g. shortest path from room A to B is through rooms C and then D etc). Then within each room, the robot will find the shortest path from door to door. This hierarchical search carries on until the robot ends up in the final selected waymarker.

Category:

Entertainment

Tags:

• A*

[Grenadiac111]

Very Cool

[Nojtb]

nice