Enhanced Relaxed A* algorithm for solving the shortest path problem in regular grid maps
[map_with_path,path,D,iter,cost,fail,t] = Astar_anglesCases4(map,Nb_iter_max,i_start,j_start,i_goal,j_goal)
map: a 2D matrix where obstacles have a value of 100
Nb_iter_max: Maximum number of iterations for finding the shortest path
i_start,j_start: Coordinates of the starting node
i_goal,j_goal: Coordinates of the goal node
Ammar, A. (2024). ERA*: Enhanced Relaxed A* algorithm for solving the shortest path problem in regular grid maps. Information Sciences, 657, 120000.