Any-Angle Path Planning

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Any-angle path planning algorithms are a subset of pathfinding algorithms that search for a path between two points in space and allow the turns in the path to have any angle. The result is a path that goes directly toward the goal and has relatively few turns. Other pathfinding algorithms such as A* constrain the paths to a grid, which produces jagged, indirect paths. Any-angle algorithms are able to find optimal or near-optimal paths by incorporating the any-angle search into the algorithm itself. Algorithms such as A* Post Smoothing that smooth a path found by a grid constrained algorithm are unable to reliably find optimal paths since they cannot change what side of a blocked cell is traversed.
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Any-angle planning
Anyangle path planning
Anyangle planning
Field D*
Any angle path planning
Any angle planning
Any-angle search
Anyangle search
Block A*
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