A Focal Any-Angle Path-finding Algorithm Based on A* on Visibility
  Graphs
  In this research, we investigate the subject of path-finding. A pruned
version of visibility graph based on Candidate Vertices is formulated, followed
by a new visibility check technique. Such combination enables us to quickly
identify the useful vertices and thus find the optimal path more efficiently.
The algorithm proposed is demonstrated on various path-finding cases. The
performance of the new technique on visibility graphs is compared to the
traditional A* on Grids, Theta* and A* on Visibility Graphs in terms of path
length, number of nodes evaluated, as well as computational time. The key
algorithmic contribution is that the new approach combines the merits of
grid-based method and visibility graph-based method and thus yields better
overall performance.
