While there are many game AI problems in the industry, pathfinding
[11] is probably the single most popular – and potentially
frustrating – one among them. The goal of path-finding is to find a
way to get from one place to another (referred to as the start and
the goal, respectively). Most algorithms are based on maps (grids
of data), which store the cost of each node, or point on the grid
(See Figure 7 below)