Mind_Your_Path

C++ implementation of A-Star path planning algorithm

Credit

  1. Stanford lecture notes - http://theory.stanford.edu/~amitp/GameProgramming/AStarComparison.html
  2. Medium article - https://medium.com/@nicholas.w.swift/easy-a-star-pathfinding-7e6689c7f7b2

Algorithm

Initialize both open and closed list
    let the openList equal empty list of nodes
    let the closedList equal empty list of nodes

Add the start node
    put the startNode on the openList (leave it's f at zero)

Loop until you find the end
while the openList is not empty
    // Get the current node
          let the currentNode equal the node with the least f value
          remove the currentNode from the openList
          add the currentNode to the closedList
    // Found the goal
          if currentNode is the goal
                Congratz! You've found the end! Backtrack to get path
    // Generate children
          let the children of the currentNode equal the adjacent nodes

    for each child in the children
        // Child is on the closedList
          if child is in the closedList
                continue to beginning of for loop
        // Create the f, g, and h values
          child.g = currentNode.g + distance between child and current
          child.h = distance from child to end
          child.f = child.g + child.h
        // Child is already in openList
          if child.position is in the openList's nodes positions
                if the child.g is higher than the openList node's g
                      continue to beginning of for loop
        // Add the child to the openList
          add the child to the openList

Sample Output

Future Work

Implementing a live skecth of the exploration of nodes and the evolution of optimal path when found over the grid with obstacles using Python and OpenCV.