A* Robot

Authors

Overview

This project is an implementation of A* algorithm on a rigid non-holonomic robot to traverse through a known environment. The project is divided into 4 phases.

Phase-1: Installation of ROS and V-REP
Phase-2: Implementation of A* on a non-holonomic robot
Phase-3: Implementation of A* on a differential-drive robot
Phase-4: Implementation of A* on Turtlebot using ROs

Phase 3 and 4 have been implemented on another repository

Figure 1 - Exploration of a non-holonomic rigid robot using A* to find optimal path from start to goal

Dependencies

Python3
Python3-tk
Python3 Libraries: Numpy, OpenCV-Python, Math

Install Dependencies

Install Python3, Python3-tk, and the necessary libraries: (if not already installed)

sudo apt install python3 python3-tk
sudo apt install python3-pip
pip3 install numpy opencv-python

Check if your system successfully installed all the dependencies
Open terminal using Ctrl+Alt+T and enter python3.
The terminal should now present a new area represented by >>> to enter python commands
Now use the following commands to check libraries: (Exit python window using Ctrl+Z if an error pops up while running the below commands)

import tkinter
import numpy
import cv2

Run Instructions

Using the terminal, clone this repository and go into the project directory, and run the main program:

git clone https://github.com/namangupta98/a-star-robot
cd a-star-robot

If you have a compressed version of the project, extract it, go into project directory, open the terminal, and type:

python3 a_star_robot.py start_x,start_y,start_orientation goal_x,goal_y,goal_orientaion robot_radius,clearance step_size,theta animation
python3 a_star_robot.py 50,30,60 150,150,0 1,1 1,30 1

Refer documentation of a-star-robot.py to understand further about input arguments.

Figure 1 - Final path using A* from start to goal