Quick path planning

• A-star algorithm

  • start position, goal position, obstacles and map boundary can take any float values. The algorithm automatically segments the space according to the given resolution.

   obstacles = [[-4, -1, -3, 10], [2.5, 5.0,-8, 5]] #Rectangular obstacles [xmin, xmax, ymin, ymax]
   boundary = [-10, 10, -10, 10] #Map boundary [xmin, xmax, ymin, ymax]
   planner = A_star(obstacles, boundary, resolution=0.8)
   start, goal = [-7,0], [7,5]
   path = planner.plan(start, goal)

-  Path planning can also be visualised