Navigating Circular Obstacles with the A* Pathfinding Algorithm

Circular Obstacle Pathfinding (2017)

I demonstrate how the A* algorithm extends beyond grid maps to find optimal paths through forests of circular obstacles. By converting the environment into a graph of tangent lines and arcs, we can calculate efficient routes that surf between or hug the sides of round barriers, even when they touch or overlap.

"A* isn't just a grid algorithm! It can work on any graph."