A heuristic approach to military transition problem

Dynamic path planning problem, which is defined by finding the shortest distance movement from a starting point to a target destination in an environment that contains dynamic moveable obstacles, is a problem that is encountered in different forms in many fields. In military field, the safest transition of military units in shortest time is one of these forms. Transition problem is a very general problem. It can be used for vehicle routing in traffic, in military applications, in robotics, for determining the route between two points in urban transportation or for routing data packets in a network.