GAA* Applet

• Legend:
  • Red cells are the obstacles.
  • White cells are crossable and have cost 1.
  • Light gray cells are crossable and have cost 2.
  • Dark gray cells are crossable and have cost 3.
  • Cells highlighted with the blue color are part of the optimal path.
  • Cells highlighted with the green color are in the open list.
  • Cells with a black grid border have been initialized using the procedure InitializeNode in last execution.
  • The values in the cells represent the g-value and the h-value, respectively.
  • The values in the binary heap text area represent the f-value, g-value and the h-value, respectively.
• References:
  • X. Sun, S. Koenig, and W. Yeoh, "Generalized Adaptive A*", In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 469-476, 2008.
  • P. E. Hart, N. J. Nilsson, and B. Raphael, "A formal basis for the heuristic determination of minimum cost paths", IEEE Transactions on Systems Science and Cybernetics, vol. 4, no. 2, pp. 100-107, 1968.
• Source code.

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