Lazy A* Implementation

Question

I am working on a toy RTS game, for path finding I am relying on A*, problem is alot of units are moving around causing calculated paths to become invalid which is causing wasted CPU cycles, I have to recalculate paths for those agents.

So I thought why not calculate the path lazily instead of calculating the whole path, I keep calculating it as I go along. A google search did not turned up much are there any implementations of lazy A* or any other graph search algorithm?

Answer 1

You could use the D* algorithm. It actually works better for this purpose.