A-star-algorithm-for-2D-point-robot-path-planning

Project Description:

This script contains an implementation of the A-star algorithm for a point robot for navigation around obstacles in a 2D space.

Dependencies:

• python 3.11 (any version above 3 should work)
• Python running IDE (We used Pycharm)

Libraries used:

• NumPy
• Time
• HeapQ
• OpenCv

Instructions

1. Download the zip file and extract it

2. Install python and the required dependencies:

   pip install numpy opencv-python

3. Run the code or use desired python IDE:

   $python3 a_star_raajithg_advaitk.py

Input the clearance, radius, the coordinates and orientation of the robot at start and goal positions and the step size for the robot when prompted in the terminal. The instructions on how to input the coordinates and the orientation will be given in the terminal itself NOTE: When you input the coordinates and the orientation for the start and the goal position, input them such that each value if followed by the next by after a single space. For example if the start position is (10,10,30) where x = 10, y = 10 , angle = 30, then enter it as 10 10 30. Follow the same procedure for the goal node

NOTE: The step size of the robot should be between 1 and 10

Demo

General Note: The code best runs when the clearance and the robot radius is 1, otherwise, it takes some time, please be patient :)