Optimized A* Pathfinding

The A * pathfinding algorithm is a commonly used path search algorithm that is easy to implement,However, there are two shortcomings:

1.When the scene is complex and there are many grids, path search requires a relatively long time.

2. Due to the grid based path search, the final path contains a lot of twists and turns.

To address the above two issues,

1.I improved the A * pathfinding algorithm by optimizing the search of Open and Closed tables, greatly improving the pathfinding efficiency in large grids.

2. Optimizing the pathfinding results is the turning point that minimizes the path.