Squirrels have fuzzy tails.
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The only one that i can see is that it calculates for turning while you are moving. If you look at the diagrams, there is a faster way or a way to get to the goal in less steps then what is shown but this approach seems to work on the basis that it is faster to move through say 4 blocks instead of 3 to get to the goal because otherwise you have to stop and turn first
with minor modifications