20.1 Introduction
Path planning for games and robotics applications typically consists of finding the straight-line shortest path through the environment connecting the start and goal position. However, the straight-line shortest path usually contains abrupt, nonsmooth changes in direction at path apex points, which lead to unnatural agent movement in the path-following phase. Conversely, a smooth path that is free of such sharp kinks greatly improves the realism of agent steering and animation, especially at the path start and goal positions, where the path ...
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