[krazii]

Here is a visualisation of the algorithm I made a while back. https://m.youtube.com/watch?v=pJCNh5qsIuE

[SturgeonsLaw]

That's interesting, to me it looks like it mimics the eyes sweeping left to right, searching for the best option

[krazii]

An analogy with vision is definitely appropriate. From each node in the path you you push forward to the visible neighbor nodes. The efficiency of the algorithm comes from exploring the space polygon to polygon.

[stefs]

i admit to being too lazy to read the paper, so maybe you can answer this: does this work on weighted graphs too? by that i mean what if movement costs differ from distance?

[krazii]

I think so. As long as you can calculate your cost based on any two points that have a straight line path between them.