roniepatil / dijkstra-algorithm-for-a-point-robot Goto Github PK

Implemention of Dijkstra’s Algorithm to find a path between start and end point on a given map for a point robot (radius = 0; clearance = 5 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 Dijkstra-pathplanning-rohit-patil.py

or

python3 Dijkstra-pathplanning-rohit-patil.py

Terminal asks for user input for start and goal location: Input start location as shown in below fashion, x-coordinate space y-coordinate

Enter start location point[x,y](eg: if (5,5), then enter: 10 10): 25 30

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

Enter goal location point[x,y](eg: if (5,5), then enter: 115 185): 120 190

Test case 1: Start location: 10 10 Goal location: 115 185 . Visualization video: Test case 1.

Test case 2: Start location: 20 50 Goal location: 395 245 . Visualization video: Test case 2.