A-star with differential contraints
Required Modules:
- numpy, openCV, heapq
Files Info
- 'main.py' file :
- Map is created and Path is searched from given start to goal
- 'maputils.py' file
- contains the map class and obstacle classes
- 'planner.py' file
- contains A-star class
- 'nodeclass.py' file
- contains the node class
To Run the code:
- run 'python3 main.py'
- input start and goal positions and clearance in the prompt
- change H in main.py to 1 to explore fully but takes so much time.
- after a path is found. exploration is visualized and saved as 'exploration.mp4'
Result
