Partially Precomputed A$^{\ast}$
William Hewlett · IEEE Transactions on Computational Intelligence and AI in Games · 2011
A* is a commonly used technique for finding shortest paths for navigation in video games. We propose partially precomputed A* (PPA*), which is much faster than A* at runtime, and uses much less memory than completely precalculating all shortest paths with an algorithm such as Floyd-Warshall. At runtime, PPA* is very similar to A*, so it is simple and safe to integrate into existing video game code bases.