A Comprehensive Study on Pathfinding Techniques for Robotics and Video Games

Figure 3

(a) Visibility graph (brown represents obstacles), (b) mesh navigation with triangular grid (blue regions represent obstacles), (c) 3D G2CBS path smoothing: three consecutive points in space from a unique 2D plane (left); planar G2CBS path smoothing is applied to these consecutive points after mapping 3D waypoints to 2D (right) [49].

(a)

(b)

(c)