Circular Obstacle Pathfinding (2017)
A*pathfindinggraphsurfing edgeshugging edgesMinkowski expansiondelayed edge generationcull cusped hugging edgescrossing edge cullingpolygonal obstacles.
Author: andsoitis
Date: 7/12/2026
Article Summary:
This article discusses how to apply the A* pathfinding algorithm to navigate a forest of round obstacles, including the generation of surfing and hugging edges, and enhancements for handling obstacles that touch or overlap.