Astar Path Planner for rigid robot

By Varun Asthana

University of Maryland

Overview

This project has 3 sub projects- Phase 1, Phase 2 and Phase 3.
Initial position has a parameter of theta defining the heading angle in the range [0, 360). Solver looks for a path with defined step size and action set.

• Phase 1 is the implementation of A* algorithm for a rigid robot with no holonomic constraint.

• Phase 2 is the implementation of A* algorithm for a rigid robot with non-holonomic constraints of a differential drive.

• Phase 3 is the simulation of Phase 2 for a TurtleBot in Gazebo.

Download

$ git clone https://github.com/varunasthana92/Astar_Path_Planner.git