Abstract: Taking the automatic role pathfinding in three-dimensional virtual scene as the research background, the author proposes a method of multi-layer pathfinding based on A-star algorithm, and uses advanced heuristic functions to evaluate the cost values of various expansion nodes to confirm the optimal solution to the problems. By introducing collision detection mechanism, the navigation path generated by the improved A* algorithm is modified to avoid collision; and by interpolating the fixed path, the smooth navigation path is constructed using Bézier Curve. The experimental results show that the path finding results can well adapt to the multi-layer case when the target point is reachable.

Key words: multi-layer path planning, A* algorithm, path planning, Bézier curve, virtual scene