path smooth algorithm for astar path planning based on quad tree

Question

I implement an astar path finding method based on quad tree(the grids are difference in size, it's the main case), now I can get the rough path, but I don't get a smooth method to optimize the path, anyone who has one or reference may helps, thanks.

the path finding algorithm is reference from [the web](http://mathieuturcotte.ca/textes/quadtree/) — fieldChao, Jul 22 '13 at 15:16

fieldChao · Accepted Answer · 2013-07-23T05:11:57.167

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haha,I find the method for the difference size path smooth. Just use the funnel algorithm too, but there is a difference: when add left and right point for two quads, find one intersection side, and sort the four points(a0, a1, b0, b1) like ([x, y0], [x, y1], [x, y2], [x, y3], and y0 <= y1 <= y2 <= y3) , and use the two points [x, y1], [x, y2].

edited Jul 23 '13 at 05:11

answered Jul 22 '13 at 15:15

fieldChao

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anybody need the algorithm can seed email to fieldchao@gmail.com – fieldChao Jul 23 '13 at 05:13

path smooth algorithm for astar path planning based on quad tree

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