sakshikakde / dijkstra_and_astar_path_planning

Path planning for rigid body robots using Dijkstra and AStar algorithms

ENPM 661 Planning for Autonomous Robots

Project 3 Phase 1,2

Sakshi Kakde: 117472448
Siddharth Telang: 116764520

Dijkstra Path planning:

Steps to run:

python3 Dijkstra_Final.py --InitState 0 0 --GoalState 100 200 --SaveFolderName ./

Parameters:

--InitState: Initial state of the robot
--Goal State: Goal state of the robot
--SaveFolderName: Folder where the video will be saved (default - current directory)

A* Path planning:

Steps to run:

python3 AStar_Rigid_Body.py --InitState 20 50 90  --GoalState 320 230  --StepSize 10 --SaveFolderName ./

Parameters:

--InitState: Initial state of the robot
--Goal State: Goal state of the robot
--StepSize: Step size (1-10)
--SaveFolderName: Folder where the video will be saved (default - current directory)

Videos:

https://drive.google.com/drive/folders/10njIiXhTS0WaCclqDIwk8sDQV5vrcUC-?usp=sharing

Note

If you wish to change the clearance and robot radius, please go to obstacle.py and change the "robot_radius" and "clearance" variable which are set at 5 and 10 as default.