Replanning
Real-Time Path Replanning
Real-Time Path Replanning
Without Recalculation
In real-time systems, paths don't stay valid. Targets move. Environments change. Traditional pathfinding breaks here — because every change requires recomputation.
The Cost
Why Replanning Doesn't Scale
With A*: goal changes trigger recomputation, environment changes trigger recomputation, blocked agents trigger recomputation. Each recomputation is as expensive as the original path search.
In a system with 100 agents that retarget once per second, that is 100 full A* searches per second just for replanning — on top of the initial pathfinding cost.
A* Replanning
change → recompute → change → recompute Cost: O(V log V) per agent per change
StrataNav Replanning
change → query → change → query Cost: O(path length) per query. Field persists.
Performance
13× Faster Replanning
Speed
13×
Faster in query-only mode
Spikes
Zero
No CPU spikes on goal change
Cost
Near-zero
Replanning becomes a lookup