Replace the limited A* pathfinding with something continuous like D*-lite

[theFox6]

Is your feature request related to a problem? Please describe.
The pathfinding is rather limited and can't venture into unknown regions or to faraway goals.
Also the A* algorithm is not quite optimized for changing paths and needs to be recalculated every time.

Describe the solution you'd like
A continuously planning and quick updating algorithm like D*-lite could be used instead of the A*.

Describe alternatives you've considered
The pathfinder works so far and could also be improved, by just walking to the best node found so far.
However that does not guarantee finding the actual path.