A-star with differential contraints

Required Modules:

• numpy, openCV, heapq

Files Info

• 'main.py' file :
  • Map is created and Path is searched from given start to goal
• 'maputils.py' file
  • contains the map class and obstacle classes
• 'planner.py' file
  • contains A-star class
• 'nodeclass.py' file
  • contains the node class

To Run the code:

• run 'python3 main.py'
• input start and goal positions and clearance in the prompt
• change H in main.py to 1 to explore fully but takes so much time.
• after a path is found. exploration is visualized and saved as 'exploration.mp4'

Result