Solving findpath by combination of goal-directed and randomized search

An application of the findpath problem is briefly introduced, and method solving findpath by a combination of goal-directed straight-and-slide search and randomized generation of subgoals is outlined. The major parts and details of the implemented plane-findpath algorithm are discussed, and experimental results are given. The future extensions of the algorithm to a three-dimensional environment and a six-degree-of-freedom manipulator are considered.>