A* needs a consistent heuristic to work on a graph.
So I'm not sure if the heuristic of a straight line (bird flight) can be used.
For example: the costs to travel to a neighbors node is always positive.
GOAL -------------------- | | | START | | | where to stripes are obstacles.
Am I correct that this the proposed heuristic isn't consistent here as it has to travel away from the goal first?
Is there a good heuristic for this kind of situation? Or should I keep it with Dijkstra a forget about A*?