Here's another great paper on long range / short range steering: http://ijssst.info/Vol-05/No-1&2/TOMLINSON.pdf http://ijssst.info/Vol-05/No-1&2/TOMLINSON.pdf.

Here's another great paper on long range / short range steering: http://ijssst.info/Vol-05/No-1&2/TOMLINSON.pdf http://ijssst.info/Vol-05/No-1&2/TOMLINSON.pdf. The paper has excellent illustrations and it really helped me gain intuition for how pathfinding/steering algorithms can come together as a whole.