How to generate a safe and high-quality path for a moving robot is a classical issue. The relative solution is also suitable for computer games and animation. To make the problem simpler. it is common to discretize the continuous planning space into grids. https://www.roneverhart.com/Grace-Design-M801-MK2-High-Fidelity-p15168/
Late Line-of-Sight Check and Prioritized Trees for Path Planning
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