/dijkstra_algo_robot

This is a coursework project of Path Planning for Autonomous Robots ENPM661

Primary LanguagePythonMIT LicenseMIT

Dijkstra's Algorithm for Point and Rigid Robot

Coursework project for ENPM661: Planning for Autonomous Robots.

Overview

The aim is to navigate a point robot and a rigid robot from start point to goal point using Dijkstra's algorithm in a known environment.

Dependencies

  • Opencv
  • Python3.5 (use queue)
  • Python2.7 (use Queue)
  • Numpy

Instructions

To run the code for point robot, open the terminal in Codes folder and type

python3 Dijkstra_point.py

To run the code for rigid robot, open the terminal in Codes folder and type

python3 Dijkstra_rigid.py

Time for execution

Keeping start point as (5, 5) and goal point as (195, 295)

  • Algorithm time for point robot: 1.2 seconds and visualization time for point robot: 85 seconds


    Figure 1 - Point Robot

  • Algorithm time for rigid robot: 1.2 seconds and visualization time for rigid robot: 74 seconds


    Figure 2 - Rigid Robot with Radius=2 and Clearance=1