**5. Experimentation**

graph vertices into cell corners, we also need to change finding cell centre neighbours to a pair of corner nodes as illustrated in **Figure 13**. Once the path costs of necessary nodes are computed, the path is generated by starting from the initial node and iteratively finds, using linear interpolation, the optimal node on the neighbor cell boundary to move next. The pseudo code of Field D\* and modifications in red colour are shown in **Figure 14**. Note that the differences

**Figure 14.** Pseudo code of Field D\*.

82 Advanced Path Planning for Mobile Entities

In this section, using our path planning framework, we demonstrate the evaluation comparison between algorithms in search-based family in terms of performance and path optimality.
