I'm looking for the name of a routine for pathfinding or some libraries, where it can have slow areas. I know what A* is for binary paths, but what about paths that have regions where you might want to avoid, but only to a certain cost. Like, if there is mud that slows you by 1/2, then there are times its more efficient to cross that "mud". I took an A* and modified it so I could put weights at each point, and it works, but I'm wondering if this has an official name? Maybe a programmer can help me. I'm doing a hobby project where I need a 2D pathfinding over a 200x200 grid where some squares "cost" more than others, and if it can be parallelized it would be even better. It's going to be used for a Neural Net so I have to think about optimization too. Thanks!