Path Planning using A-star Algorithm
Author
Arpit Aggarwal
Introduction to the Project
In this project, the A-star motion planning algorithm was used on a point robot and rigid robot to navigate in a configuration space consisting of static obstacles.
Results
Comparison of Algorithms, A-star and Dijkstra (blue are the explored region):
A-star algorithm using Eucledian Heuristic:
Software Required
To run the .py files, use Python 3. Standard Python 3 libraries like numpy, heapq and OpenCV are used.
Instructions for running the code
To run the code for finding the path, follow the following commands:
cd Code
python astar.py
Credits
The following links were helpful for this project: