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Robotic path planning

This is a collection of robotic 2D path planning algorithms written by myself.

Content:

Searching Based:

  • Dijkstra
  • A*
  • D*
  • LPA*
  • D*-lite
  • Hybrid A*

Sampling Based:

  • RRT
  • RRT*
  • RRT*-reeds-shepp

Step by step walktrough:

Dijkstra: https://www.youtube.com/watch?v=B2mUby28wsw&t=31s

A* : https://www.youtube.com/watch?v=cMXApzVcOeY&t=598s

( More videos coming soon )

Packages:

  • numpy (for array operation)
  • math (to use sin/cos)
  • cv2 (for loading map images and visulization)
  • random (optional, generating random numbers)
  • bresenham (for getting the grids covered by a line)
  • time (optional, for timing only)