/path_planning_dijkstra

Using Dijkstra Path Planning Algorithm (Part of ENPM661 - Planning for Autonomous Robots)

Primary LanguagePythonMIT LicenseMIT

Path Planning using Dijkstra Algorithm

Packagist

Authors

Arpit Aggarwal Markose Jacob

Introduction to the Project

In this project, the Dijkstra 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): Screenshot

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 codes
python Dijkstra_point.py

cd codes
python Dijkstra_rigid.py

Credits

The following links were helpful for this project:

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