Year 2

This is a simple 2D pathfinding program using the Lee algorithm, and using STL data structures. It uses a grid to navigate, and supports obstacles.

Lee 1

Here, the algorithm begins searching from the starting point, S, to the goal point, G.

Lee 2

And eventually comes to the goal.

Lee 3

Here we can see the path the algorithm has traced from start to goal. Note that the path moves abound the green obstacle.