I am making a 2D tile based game which involves having AI that needs to traverse the map avoiding obstacles in a natural and smooth path (NOT NECESSARY THE SHORTEST)
The orientation of the vehicle is also important in the example above the initial orientation of the vehicle is to NORTH but the orientation of the vehicle at the destination doesn't matter.
All I could do now is to compute the path using A* or a BFS fill through the center of the tiles.
This is an example of a desired path:
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