Modification of JPS+ Algorithm for Optimal Pathfinding on Uniform-Cost Grids

Pathfinding is a widespread task in many domains, including computer games, robotics and road maps. This paper describes the work of JPS+ algorithm and puts forward its modifications allowing to reduce pathfinding time. We propose to use a visibility graph to modify the map pre-processing logic at the stage of Primary Jump Points calculation. The paper also puts forward modifications in the shortest path algorithm solved for two points: the logic of Target Jump Points work and Primary Jump Points filtering has been altered to deal with obstacles. We propose an open-source software solution that accommodates the modifications.