In this research, we investigate the subject of path-finding. A pruned version of visibility graph based on Candidate Vertices is formulated, followed by a new visibility check technique. Such combination enables us to quickly identify the useful vertices and thus find the optimal path more efficiently. The algorithm proposed is demonstrated on various path-finding cases. The performance of the new technique on visibility graphs is compared to the traditional A* on Grids, Theta* and A* on Visibility Graphs in terms of path length, number of nodes evaluated, as well as computational time. The key algorithmic contribution is that the new approach combines the merits of grid-based method and visibility graph-based method and thus yields better overall performance.
@article{arxiv.1706.03144,
title = {A Focal Any-Angle Path-finding Algorithm Based on A* on Visibility Graphs},
author = {Pei Cao and Zhaoyan Fan and Robert X. Gao and Jiong Tang},
journal= {arXiv preprint arXiv:1706.03144},
year = {2018}
}