[sujayakar]

can you specify the algorithm in more detail?

this looks to be solving a different problem than A*, which operates over discrete graphs. this looks to be operating in 2D continuous space instead.

so, what is the algorithm for finding the optimal point on the obstacle's outline for bypass (4)? is it finding the point on the outline nearest the destination?

then, how do you subsequently "backtrack" to a different bypass point on the obstacle if the first choice of bypass point doesn't work out?

there's something interesting here for trying to directly operate on 2D space rather than discretizing it into a graph, but I'm curious how the details shake out.

[Farer]

The algorithm for finding detour points is as follows. In fact, I’ve improved it a bit through research:

1. Detect a collision with an obstacle on the straight path connecting the starting point and the destination. 2. Decide which direction to explore along the obstacle's outline (for now, the side closer to the destination). 3. If the end of the visible outline is reached, search for an appropriate detour point around that outline. 4. Select a detour point where a straight-line movement from the starting point avoids the obstacle, preferably closer to the destination.

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If the first detour point selection fails, I plan to search in the *opposite direction* along the outline where the obstacle was first encountered. I’m currently working on resolving this part.

You can check out my progress here: https://github.com/Farer/bw_path_finding