Homework 3 - Path Planning in VivoCity (ROS/Planning Assignment)

This project is the implementation of Homework 3 from ME5413: Planning and Decision Making. It focuses on global path planning using A* algorithm and solving a Travelling Salesman Problem (TSP) over a floor map of VivoCity Level 2.

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Project Structure

homework3/
├── map/                     # Map images (PNG)
│   ├── vivocity.png
│   └── vivocity_freespace.png
├── src/                     # Source code
│   ├── planner.py           # A* search algorithm
│   ├── map_loader.py        # Map and location loading
│   ├── tsp_solver.py        # TSP brute-force and greedy algorithms
│   └── visualize.py         # Visualization utilities
├── main_task1.py            # Entry point for Task 1
├── main_task2.py            # Entry point for Task 2
├── requirements.txt         # Dependencies
└── README.md

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How to Run

Task 1 - A* Path Planning

# Run with proper module path
PYTHONPATH=. python main_task1.py

Task 2 - Travelling Salesman Planning

PYTHONPATH=. python main_task2.py

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Requirements

Install dependencies (preferably in a virtual environment):

pip install -r requirements.txt

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Notes

• Ensure that the map images are in the map/ folder.
• All code follows Python standards and Google Style Guide.
• Task 1 output is used to support Task 2 shortest route planning.