Path-Planning-for-a-point-robot-using-Dijkstra-Search-Algorithm

ENPM661 Project 2

Description : A point robot traverses in an obstacle map to find the goal from a starting point without colliding with the obstacles

User Dependencies:

• Python 3.9
• IDE to run the program (I used VSCode)
• Libraries : numpy, argparse, matplotlib.pyplot, time

Instructions to run:

• Open an IDE
• Navigate to the folder where the .py file exists
• Upon running the code, the user will be prompted
  • To enter the start coordinates
  • To enter the goal coordinates
  • Note: please have one space between the start and goal
• To visualize the exploration and path, please uncomment the plt.pause() on line 300.
• If you want the path to be displayed without live visualization keep the line commented.
• The visuzaliztion using matplotlib is a bit slower so, to view the result, just run it.
• It will take some time to generate the plot. Thank you for being Patient.

Code:

• The code describes how to implement Dijkstra algorithm on a point robot

Some notable functions are
C_obs_space()
Djikstra()
Action_set()

Special Instructions on giving Arbitrary start and goal nodes:

• (0,0),(1,1),(400,250),(399,249),(399,250),(400,0),(400,249),(0,250),(0,400),(250,0) are out of bounds
• I have defined an extra layer of bound to show the edges of the map.

Output:

• A plot of all explored nodes and a path depicting the shortest distance between start and goal node.
• The green area depicts the explored nodes
• The dotted red line depicts the path
• The dark blue area is the obstacle
• the light blue area is the clearance to completely define the configuration space

Video Output:

https://drive.google.com/file/d/1KK9bOTwXyvuwQzSftI_3rTO0BENsvvPC/view?usp=sharing

Contact Author

Name : Bharadwaj Chukkala
Email : bchukkal@terpmail.umd.edu