Path Planning Algorithms
Path Planning Algorithms
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Learnt and implemented the 2 most common path planning algorithms for autonomous robot movement: A* algorithm and RRT algorithm to find the shortest path between 2 points. The results were then compared to the results with conventional search algorithms like DFS and BFS algorithms. Used PyGame to enhance visualization.
A* Search Algorithm
A* Search Algorithm
Black nodes are the obstacles
Yellow nodes indicate the nodes in the shortest path
Red node is the destination
Black boxes are the explored nodes
Green boxes are live nodes
RRT Algorithm
RRT Algorithm
Black boxes are the obstacles
Blue line along the Red dots is the shortest path
Other branches of the blue line are explored paths
Green highlighted dot is the starting position
Green circled dot is destination position
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