New pathfinding algorithm
Since I don't think a true optimal route is necessary here I would have checked out RRT instead of a*. There are variants of it that are much much faster that can find almost optimal routes.<p>If you guys want to explore this further you could look into integrating ompl[1]. It has a variety of planners that could be used. I believe you could get an order of magnitude improvement using something like that.<p>[1] <a href="https://github.com/ompl/ompl" rel="nofollow">https://github.com/ompl/ompl</a>