Hierarchical Astar Path-Finding

Version 1.0.1 (8.27 KB) by Robin Hartley
Implementation of the hierarchical astar algorithm A. Botea, M. Muller and J. Schaeffer. Fast and efficient for large/complex maps and mazes
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Updated 4 Oct 2022

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% - This is an implementation of the following hierarchical astar algorithm:
% A. Botea, M. Muller and J. Schaeffer - Near Optimal Hierarchical Path-Finding
% https://webdocs.cs.ualberta.ca/~mmueller/ps/hpastar.pdf
%
% - This algorithm is efficient and fast for complex and large
% maps/mazes
%
% - Variables:
% I - binary image with white regions (ones) representing
% impassable objects and black regions (zeros) representing free
% space
% Srow - Starting row in image
% Scol - Starting column in image
% Erow - Ending row in image
% Ecol - Ending column in image
% subdims - dimensions [rows,cols] of pre-processing grid (see
% paper referenced above). 2 < subdims <= size(I)

Cite As

Robin Hartley (2024). Hierarchical Astar Path-Finding (https://www.mathworks.com/matlabcentral/fileexchange/115180-hierarchical-astar-path-finding), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2022a
Compatible with any release
Platform Compatibility
Windows macOS Linux
Acknowledgements

Inspired by: Astar-Algorithm

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Version Published Release Notes
1.0.1

Fixed bug where either fully white grid regions would cause crash
1.0.0