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# PathPlannerDijkstra It uses Dijikstra's algorithm to find path for the given map -------------------------------------------------------------------------------------------------- >> When obstacle objects are drawn, they are inflated internally but not drawn on the screen. >> Instead you will see the clearance of 5mm (= 5px in code) when nodes are traversed and see a gap. >> I am assuming that when you add 5px clearance, (6,6) Coordinate is a valid coordinate. This hypothesis is used everywhere in the program. >> Color Meaning - Red : obstacle - White : nodes traversed - Black : clearance from the boundary and the obstacles (in the end of traversal) / empty space - Green : Shortest path from start to end coordinates >> Worst Condition of whole graph traversal can take upto 2 minutes >> GitHub URL: https://github.com/silentkarmi/PathPlannerDijkstra >> Structure of the Program - Dijkstra-pathplanning-Kartikeya-Mishra.py - main starting point of the Program - node.py - each coordinate is considered a node - canvas.py - deals with drawing opencv related details - obstacles package - contains the boomerang polygon obstacle, circle obstacle and regular hexagon obstacle related files - utility.py - functions which used throughout Program - constants.py - declare constants which used throughout the Program - traversal.py - this is where the Dijikstra algorithm is implemented >> Video Ouput of the program, included in the zip: djikstra_output_mishra_k.mkv >> Note: Python3 is used to write the code >> Command to run from terminal: python3 Dijkstra-pathplanning-Kartikeya-Mishra.py
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