Figure 4: To avoid decreasing the grid resolution by long moves, the long moves should be subdivided into several submoves: the Knight's move (pale orange) consists of two steps, in an isotropic grid the cost of the intermediate stop is the average of the costs assigned to the two neighbours connected by the black line. A- and B-moves are subdivided into three steps and the cost of an intermediate stop is a weighted average of the costs of the relevant two neighbours, with the weights depending on the distance between the neighbour and the intermediate point. In an elevation grid, intermediate altitudes are derived from the values in the neighbouring cells. Image credit: I. Herzog.
Figure 4

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