Hierarchical Astar Path-Finding

Implementation of the hierarchical astar algorithm A. Botea, M. Muller and J. Schaeffer. Fast and efficient for large/complex maps and mazes

% - This is an implementation of the following hierarchical astar algorithm:

% A. Botea, M. Muller and J. Schaeffer - Near Optimal Hierarchical Path-Finding

% https://webdocs.cs.ualberta.ca/~mmueller/ps/hpastar.pdf

%

% - This algorithm is efficient and fast for complex and large

% maps/mazes

%

% - Variables:

% I - binary image with white regions (ones) representing

% impassable objects and black regions (zeros) representing free

% space

% Srow - Starting row in image

% Scol - Starting column in image

% Erow - Ending row in image

% Ecol - Ending column in image

% subdims - dimensions [rows,cols] of pre-processing grid (see

% paper referenced above). 2 < subdims <= size(I)