roniepatil / astar-algorithm-for-a-mobile-robot Goto Github PK

Implementation of A* Algorithm to find a path between start and end point on a given map for a robot (radius = user input; clearance = 10 mm). Checks the feasibility of all inputs/outputs (if user gives start and goal nodes that are in the obstacle space they will be informed by a message and they should try again). Code outputs an animation/video of optimal path generation between start and goal point on the map. It shows both the node exploration as well as the optimal path generated.

Clone or download the project repository and open the folder, Open terminal in the project folder and type below command:

python a_star_algo.py

or

python3 a_star_algo.py

Terminal asks for user input for step size, radius, start and goal location with orientation: Input step size as shown in below fashion, step_size

Enter the step size of the robot: 5

Input radius as shown in below fashion, radius

Enter the radius of the robot: 5

Input start location as shown in below fashion, x-coordinate space y-coordinate space theta

Enter start location point and orientation[x,y,theta](eg: if (10,10,30), then enter: 10 10 30): 10 10 60

Input goal location as shown in below fashion, x-coordinate space y-coordinate space theta

Enter goal location point and orientation[x,y,theta](eg: if (115,185,60), then enter: 350 220 60

Test case 1: Step size: 5, Radius: 5, Start location: 10 10 60, Goal location: 350 220 60, Visualization video: Test case 1.

Test case 2: Step size: 10, Radius: 5, Start location: 10 10 0, Goal location: 100 240 0, Visualization video: Test case 2.