Motion Planning

Before getting started, make sure that you have installed the requirements listed on the main page.

In order to run the scripts, please follow the respective instructions.

Change to the Correct Directory (Demo 0)

cd robotics-workshop   # Change directory to the cloned repository
pipenv shell   # Activate robotics-workshop virtual environment
cd motion_planning/scripts/ # Change directory to the location of the scripts

Dijkstra Search (Demo 1)

Running the following script pops up a graphical window showing a demo for the Dijkstra search algorithm:

python dijkstra.py

The following graphic should appear to display the Dijkstra search algorithm running:

A-Star Search (Demo 2)

Running the following script pops up a graphical window showing a demo for the A-Star search algorithm:

python a_star.py --eps 1

Try different values for eps to see how it affects the search. The following graphic should appear to display the A-Star search algorithm running:

Path-Planning (Demo 3)

Running the following script pops up a graphical window showing a demo for path-planning, where a temporary goal is calculated and A-Star is used to determine a path to it:

python path_planning.py

The following graphic should appear to display the path-planning algorithm running: