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If anyone has a tougher path planning problem and needs a better heuristic, I wrote an article a few years ago that might help: http://razorcode.net/articles/vehicle-path-planning.html

Thanks for writing this article! Would you mind if I share it in WeeklyRobotics(https://weeklyrobotics.com/) next week?

Feel free, it exists to be read. And you just gained a subscriber.