This program implements cooperative pathfinding as proposed by David Silver here.

The cooperation between agents is substituted by a system for predicting the path of nearby obstacles.

The result is agent movement that takes the future obstacle positions into account.

If you're just interested in the code you'll find all the classes here.

I have made the program in Unity 3D game engine, because it allowed me to test my implementation easier.

If you wish to try it out yourself you may take the classes and refactor them a bit to work in your environment, or you can open the project with Unity. The easiest way to do so would be so go to the CooperativePathfinding/Assets/Scenes/Testing folder and run TestScene with Unity.

Then pressing the play button at the top-center of the window is all you need to do to test it.

To make a custom level you can supply a .txt file to the Grid gameobject. And you can also try the local avoidance implementation by toggling isLocalAvoidance in the Manager gameobject.

This is a comparison between using local avoidance (upper scene) and cooperative pathfinding (lower scene):

The Unity version I was using is 2018.3.6f1 Personal, but I used mostly basic things so I think it should work in most of the newer versions.

This project is licensed under the MIT License - see the LICENSE.md file for details