New video, old implementation :). It’s simply A* algorithm, path finding and some aditional calcs for more realistic path to follow. Diagonal movements is not activated.

If you want more info:
http://www.alvaromartin.net/2008/07/30/a-pathfinding-parte-1-pruebas/
http://www.alvaromartin.net/2008/08/05/a-pathfinding-parte-2-a-buen-trabajo/