A Comprehensive Study on Pathfinding Techniques for Robotics and Video Games

Table 1

Recently reported pathfinding algorithms used in robotics and video games.

Topologies	Environment “system”	Pathfinding addresses	Exemplification	Memory complexity	Time complexity	Cost metric	Pathfinding technique	Reference
Undirected uniform-cost; square grid maps with diagonal movement	Static	Single-agent	Game development	—	A^* + ALTBestp; IDA^* + ALTBestp faster	ALTBestp, Manhattan, and ALT heuristics	A^* and IDA^* algorithms	[71]
Undirected uniform-cost; square grid maps without diagonal movement	Static	Single-agent	Game development	—		Manhattan	Improved A^* algorithm	[72]
Undirected uniform-cost; square grid maps with diagonal movement	Static	Single-agent	Game development	No memory overhead	JPS algorithm	Manhattan	A^*, HPA^*, and JPS algorithms	[13]
Undirected uniform-cost; square grid maps with diagonal movement	Static	Single-agent	Game development	= maximum branching factor, = iteration	—	—	IEA^* and IDA^* algorithms	[73]
Undirected uniform-cost; square grid maps with diagonal movement	Static	Single-agent	Game development	—	SUB algorithm	—	SUB, BlockA^*, CPD-full, CPD-mbm, JPS-offline, JPS-online, PDH, PPQ, and Tree	[15]
Undirected uniform-cost; square grid maps with diagonal movement	Real-time	Multiagent	Game development	—	—	—	ITF, EITA, and MC-ITA schemes	[17]
Undirected uniform-cost; square grid maps with diagonal movement	Real-time	Multiagent	Game development	—	PRS algorithm	Manhattan and Euclidean	A^*, FS, PBS, and PRS algorithms	[74]
Hexagonal grid	Real-time	Multiagent	Robotics systems	—	—	Euclidean	Augmented A^* and Accelerated A^* algorithms	[25]
Hexagonal grid	Real-time	Single-agent	Robotics development	—	—	—	D^* algorithm	[26]
Triangular grid	Real-time	Multiagent	Robotics and games development	—	—	—	AD^* algorithm	[29]
Cubic grid	Static	Single-agent	Robotics and games development	—	—	—	Theta^*, Lazy Theta^*, and A^*	[35]
Mesh navigation	Real-time and dynamic	Multiagent	Robotics and games development	45 KB of memory per agent	—	—	Framework	[45]
Visible graph	Dynamic	Multiagent	Robotics development	AA^* less than A^*	—	Euclidean	AA^* algorithm	[41]
Waypoint	Real-time	Multiagent	Robotics development	—	—	—	Ant colony optimization algorithm	[53]