/path_planners

Primary LanguagePython

Path Planners

This repository contains the implementation of different algorithms for path planning (In discrete and continuous time). Most of the projects are developed in python and pygame for simplicity (It is better to read Python) as this repository intends to be a base for different projects.

Grid-based algorithms

  • Dijkstra's
  • A*

Usage

In order to use this "game" you need to follow the instructions provided below once you have run the main script. Run the script named as the algorithm you want to test (i.e. a_star.py will execute a search based on A*)

  • First click: Select the start location within the grid.
  • Second click: Select the final location within the grid.
  • Third and following clicks: Allocate obstacles inside the grid; however, if you click and obstacle it will be removed from the grid.
  • Spacebar: Start the search

Setting up the virtual environment

Anaconda or Minicoda is required for this project as you must create a conda environment with the required dependencies.

Create the environment

For creating the environment use the following bash command.

conda env create -f environment.yml

Check if the environment was successfully created (planners_env should be listed when running the command below)

conda env list

Activate the environment

For activating the environment use the following bash command (Use the Ananconda Prompt if not recognized)

conda activate planners_env