Folder Structure: -Readme.txt -Rishabh_Singh.py -Video recording - astar.mp4 How to run the code: Copy the the folder to your desired location Open the main.py file in any text editor (VSC is preferrable) Libraries required are: numpy - pip3 install numpy queue - pip3 install queue pygame - pip3 install pygame matplotlib - pip3 install matplotlib cv2 - pip3 install cv2 ------FIRST ACTIVATE YOUR ENVIRONMENT------- Using -- conda active "Environment name" Type running command on the command terminal: 'python3 main.py' Expected input: please enter the starting x coordinate from 10-390: 11 please enter the starting x coordinate from 10-240: 11 please enter the starting angle from 0 to 330 (step size of 30 degree):0 please enter the goal x coordinate from 10-390: 390 please enter the goal y coordinate from 10-240: 240 please enter the goal angle from 0 to 330 (step size of 30 degree:330 Enter the value of step size between (1-10):2 Github link: https://github.com/Rish2911/A_start_661_proj_1 NOTE: Some goals may take lot of time, to check the code for locations like 11,11,30 to 150,150,60 or the sample one or something nearby  Please reach out to me in case of any doubt at: rsingh24@umd.edu