gitwu12138/a-star-planning

A-star-planning

Prerequisites

• Python
• OpenCV
• Numpy
• Matplotlib

This is extended implementation of A-star algorithm.

For basic knowledge of A-star , one can refer following links : https://en.wikipedia.org/wiki/A*_search_algorithm

Now, we are trying to guide a robot which has dimensions, so such robot should avoid obstacles. It would be better if that robot searches a path which is minimum at delta distance from obstacles.

Input Images

A* without applying clearance:

For this we preprocess our input images to create clearances for robot.

Now on the basis of these clearnace values, we deviced our cost function as normal distribution of this clearance value.

After applying A* on these images , we get following output:

Output Images:

As you can see there is change in path followed by A-star. It avoids the obstacle to give shortest-optimal path.