Is it possible to avoid getting too close to a non walkable cell ?

[awddawawd]

Hi,
I'm trying to create a path finding method for the game brawlstars and I was wondering if it could be possible to find a path that does take a little longer route but avoid touch a neighbor cell that is non walkable. This would be helpful for my project since in brawlstars, there's some kind of "auto adjustment" when you go straight to a wall that makes the player move a little in order to avoid getting hit, but this feature is quite annoying for a bot and can make it loose the track of the player.

For example this :

instead of the current that is :

[brean]

Yes, you can use the already implemented weighted-grid feature of python-patfinding.
You just need to change your map to get higher cost values around your obstacles with increasing proximity.
I don't have an example for this, also there is no implementation of it yet, but you could probably copy the concept of costmaps from ROS: http://wiki.ros.org/costmap_2d/hydro/inflation
I could help you with an implementation if you have problems but I encourage you to try yourself first.
Feel free to provide a PR, ideally with a bigger map for testing, a costmap generation algorithm, unit-tests and documentation in markdown for python-pathfinding.

[brean]

Also extending python-pathfinding with a Theta*-implementation would be awesome, I think that would best work for you as well.
(see https://news.movel.ai/theta-star and #3 )