this looks to be solving a different problem than A*, which operates over discrete graphs. this looks to be operating in 2D continuous space instead.
so, what is the algorithm for finding the optimal point on the obstacle's outline for bypass (4)? is it finding the point on the outline nearest the destination?
then, how do you subsequently "backtrack" to a different bypass point on the obstacle if the first choice of bypass point doesn't work out?
there's something interesting here for trying to directly operate on 2D space rather than discretizing it into a graph, but I'm curious how the details shake out.
this looks to be solving a different problem than A*, which operates over discrete graphs. this looks to be operating in 2D continuous space instead.
so, what is the algorithm for finding the optimal point on the obstacle's outline for bypass (4)? is it finding the point on the outline nearest the destination?
then, how do you subsequently "backtrack" to a different bypass point on the obstacle if the first choice of bypass point doesn't work out?
there's something interesting here for trying to directly operate on 2D space rather than discretizing it into a graph, but I'm curious how the details shake out.