Modabbir Adeeb - 120314827 - madeeb
Shivam Dhakad - 120263477 - sdhakad
Dependencies to be installed:
a) NumPy
b) Math
c) Matplotlib
d) Time
e) Heapq
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.