Expand description
Anya-inspired optimal any-angle pathfinding
This module implements optimal any-angle pathfinding using a visibility graph approach on grid corner points. Instead of expanding intervals (as in the original Anya algorithm), we build a visibility graph over obstacle corner points and run Dijkstra’s algorithm to find the shortest euclidean path.
The result is the same optimal any-angle path that Anya would produce, since both methods find the shortest path through free space whose waypoints lie on obstacle corners.
Reference: Harabor, Grastien, Oz, Aksakalli (2016) “Optimal Any-Angle Pathfinding In Practice”, Journal of AI Research.
Structs§
- Anya
Config - Configuration for Anya planner
- Anya
Planner