AStar taking care of collisions for a rectangle

Question

How can I explore a path with A* (or another) by taking care of a rectangle collision ?

I have a 2d map, where I know for each coordinate if it is an obstacle :

For example, dark tiles are not traversable :

I use A* algorithm to find path, where for a given point, all around successor are possible with a variable cost. There is a visual example (game is top view):

How can I make a A* (or other) algorithm taking care of obstacles for a (for example) vehicle ?. In the previous image example, a man can use this path, but tank. should not

You may be interested in Path finding in grid for objects that occupy more than one tile, Multi-tile agent path-finding algorithm, Pathfinding with different sized units, and Pathfinding for units of variable size. — DMGregory, Jan 05 '23 at 21:05

score 2 · Accepted Answer · answered Jan 05 '23 at 20:43

2

You can generate a different graph for a different kind of unit.

For example a graph for humans, a graph for land vehicles, a graph for water vehicles, and so on.

And there is no change to the algorithm. The difference is that each graph is created considering the space and the type of terrain that the kind of unit requires.

And yes, that means it would be convenient to have some standard spacing so you don't have to create graph for each individual unit type, but you can reuse them for similar unit types.

For clarity: A square grid is a kind of graph, and this approach is not limited to square grids.

answered Jan 05 '23 at 20:43

Theraot

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Hello Theraot. Thanks for your time. Do you have any advice about considering the space of vehicle when computing successors of a coordinate? – bux Jan 05 '23 at 21:00
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@bux If you are talking about maneuverability, you can generate that dynamically, see Pathfinding With Speed Based Turning Restrictions. – Theraot Jan 05 '23 at 21:09
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Note that you can also re-use one grid for agents of all sizes using a distance field representation as explained here. – DMGregory Jan 05 '23 at 21:15

AStar taking care of collisions for a rectangle

1 Answers1