Theta* and A* path planning. The Theta* algorithm is implemented based on :
Nash, Alex, et al. "Theta^*: any-angle path planning on grids." AAAI. Vol. 7. 2007.
you can choose to use Theta* or A* and specifying cell size by passing argument to cmd :
- run A* with cellsize of 10
./forward-search-gui 10 astar - run Theta* with cellsize of 15
./forward-search-gui 15 thetastar
p.s. : as you can see Theta* produce more realistic path than A*