# Project3 - Phase 1
It uses A* algorithm to find a path for the given map
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>> When obstacle objects are drawn, they are inflated internally but not drawn on the screen.
>> Mobile robot is considered as a point robot during calculation
   and obstacles are inflated by the radius of the mobile robot during calculation
>> You will see the clearance of 5mm + Mobile Robot Radius when nodes are traversed and see a gap.
>> Color Meaning
    - Red : obstacle
    - White : nodes traversed
    - Black : clearance from the boundary and the obstacles (in the end of traversal) / empty space
    - Blue : Path Line from start to end coordinates for the Mobile Robot
    - Yellow : Start Node for the Mobile Robot
    - Green : GOAL node for the Mobile Robot
    - LightBlue : Intermediate Nodes which Mobile Robot took
>> Even if, the solution found in seconds, 
   but worst Condition of drawing of whole graph traversal can take upto 5 minutes
>> GitHub URL: https://github.com/silentkarmi/Project3_Planning_Robotics
>> Structure of the Program
    - main.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 A* algorithm is implemented
>> Video Output of the program is included: Kartikeya_M_and_Chang-Hong_A_star.mp4
>> This project has been done in a GROUP:
    - Kartikeya Mishra (UID: 118106755)
    - Chang-Hong Chen (UID: 117397857)
>> Note: Python3 is used to write the code
>> Command to run from terminal:
python3 main.py