xTrek: An Influence-Aware Technique for Dijkstra’s and A Pathfinders

Figure 5

Finding a path (in black) from the top-left node to the bottom-right node of a 50 × 50 grid using the constraint-aware navigation Dijkstra’s (DjCAN) pathfinder: (a) without attractors and repulsors, the search space (neutral nodes in cyan) covers the entire map; (b) with 2 attractors, the search space also covers the entire map, including neutral nodes (in cyan) and attractor nodes (in red-to-yellow blended with cyan); (c) with 2 repulsors, the search space again covers the entire map, including neutral nodes (in cyan) and repulsor nodes (those in purple blue as a result of blending dark-lilac-to-light lilac with cyan); (d) with 2 attractors and 2 repulsors, the search space covers the entire space, including neutral nodes (in cyan), attractor nodes (in red-to-yellow blended with cyan), and repulsor nodes (in purple blue). Nodes in cyan or blended with cyan represent visited nodes, that is, nodes in the open and closed lists.

(a)

(b)

(c)

(d)