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This is indeed a common and open problem in robotics and ai. When the search space is becomming too large, consider to use stochastic approaches. For planning or path finding, Rapidly Exploring Random Trees (RRT) are a promising method to efficiently find asymptotically optimal solutions. The basic idea is to start at some initial configuration (i.e. foot ...


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There's not much mention of the nitty gritty because basically this is the hard part, and it depends on your situation. A* is an easy algorithm to implement but translating from real world maps to actual data nodes is not a pleasant problem. The approach I use in my game is to use collision detection to fill up a big 2d grid with the unblocked areas. But ...


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If you go for this connections approach your heuristic will be made up of two parts. First you find the closest connection point to the target level and apply classic Manhattan distance from your current location to this stairs/elevator. Next you check the distance on the target level from the connection point to the actual target, again just Manhattan. You ...



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