Posts on this blog:
http://antonior-software.blogspot.hr/2015/09/a-pathfinding-and-navigation-mesh-3.html
http://antonior-software.blogspot.hr/2015/09/a-pathfinding-and-navigation-mesh-2.html
http://antonior-software.blogspot.hr/2015/04/basic-path-smoothing.html
http://antonior-software.blogspot.hr/2015/04/a-pathfinding-and-navigation-mesh.html
A very good A* pathfinding tutorial:
http://www.policyalmanac.org/games/aStarTutorial.htm
In game example:
Path smoothing:
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