Whats the name of this path-finding algorithm? -

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enter image description here

the pictures show graph of nodes arranged pixel grid straight rows , columns. every node (except ones on edge) have 8 edges, go closest 8 nodes around it. picture on right shows a* search simple distance travelled + euclidean distance goal heuristic.

now, path given picture on right isn't enough. instead want path if connect start node , goal node shortest possible string. algorithm getting called?

finding euclidean shortest paths based on 2d grid discretization of traversable space can performed theta* algorithm.

the other (more commonly employed) approach based on standard 4-way or 8-way pathfind (the picture on left), followed "string pulling" optimization. common algorithm known "funnel algorithm".

note neither of these approaches guaranteed produce globally shortest path. also, these assume you're set on representing world grid; if instead represent set of convex polygons, other algorithms more appropriate.


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