Dependencies to be installed:
a) NumPy
b) Math
c) Matplotlib
d) Time
e) Heapq
import numpy as np
import math
from math import dist
import matplotlib.pyplot as plt
import time
import heapq
from matplotlib.animation import FuncAnimation
from matplotlib.colors import ListedColormap
To run this file do the following:
- Press Run or type a_star_shivam_modabbir.py in the terminal
- Inputs given:
Clearance - 5
Radius - 2
Robot Step size - 2
X- coordinate of start node - 10
Y - coordinate of start node - 10
Orientation of the robot at initial point - 30
X- coordinate of goal node - 1150
Y - coordinate of goal node - 30
Orientation of the robot at final point - 30
Output: There will be 2 plots and videos generated once you the run the code. First plot will be the visualization of node exploration which will generate a plot of the node exploration and will save a video file named 'node_exploration_animation.mp4' . Once the node exploration visualization is completed, you will have to close the plot in order to visualize the path exploration which will generate a similar plot as earlier and save video file named 'optimal_path_animation.mp4'.
Note: Don't forget to close the plot of node exploration visualization so that the optimal path visualization pops up.