If the "start point" is where the beep is located, and the "end point" should be launched in the player, then the best thing you can do using only the "standard" algorithm is to periodically use A * and from this determine where need to move the drone.
As you approach the player, you will calculate faster and faster, since the search space is theoretically smaller.
Using this, the player could find a set of positions that, when moving between them, cause the drone to βget stuckβ, only moving back and forth, but these types of optimizations depend on the specific situation and the general algorithm will not include them.
Essentially, you have a fixed search space for each "frame", but you just need to run it every frame to decide what to do.
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