Path Planner

This repository implements ROS1 based Path Planning using some of the maze solver algorithm. Currently available with 3 different options of solver:

Djikstra Algorithm

A* Algorithm

RRT Algorithm

Installation

# navigate to your workspace directory
cd catkin_ws

# clone repo
git clone https://github.com/ardhimaulidani/Path-Planner.git src/
catkin_make

# install dependency
rosdep install --from-paths src/Path-Planner/package.xml -y
source devel/setup.bash

Usage

Generate path using path planner algorithm. Choose algorithm used by changing param in launch file

# Run Path Planner
roslaunch path_planner planner.py

Generate path using CSV Parser

# Edit Waypoint in "src/wp.csv"
rosrun path_planner waypoint.py

References

• Common Algorithm : Repository of some common path planning algorithms used in robotics
• Python Robotics : Python sample codes for robotics algorithms
• Algorithm Comparison : Journal of A* and RRT performance comparison
• Improved A* : Journal of modified A* algorithm