omkarchittar/Dijkstra_Point_Robot

In this project, the Dijkstra's path planning algorithm was implemented on a point robot for helping it navigate through an obstacle filled space.

Dijkstra Path Planning

File Tree

Dijkstra_Point_Robot
+-dijkstra.avi
+-main.py
+-README.md

GitHub link - https://github.com/omkarchittar/Dijkstra_Point_Robot/tree/main

Introduction to the Project

In this project, the Dijkstra path planning algorithm was used on a point robot to help it navigate through obstacles.

Considering the clearance, I have calculated the final coordinates of the vertices of the obstacles.

The clearance is also being considered at the walls of the field.

Hence, the allowed x-coordinates lie between 6 and 594
       and the allowed y-coordinates lie between 6 and 244

Installation and Running

1. Download and extract the files.

2. Run the code main.py using the following command in your terminal main.py
   pop-up window: Animation for the optimal path taken to reach the desired goal point.
   The terminal: The calculated optimal distance between the goal point and the initial point.
   

Results

The realtime node exploration along with optimal path are shown in the 'dijkstra.avi' video.
Blue: Explored | Green: Unexplored | Red: Optimal Path
The inputs considered being (100, 130) and (200, 6).
The Optimal distance for these inputs is 183.57979999999972

The gif below shows the animation

Author

Omkar Chittar