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:

1. https://github.com/AtsushiSakai/PythonRobotics