Dijkstra-Algorithm-for-Point-Robot

A point robot traverses in an obstacle map to find the goal from a starting point without colliding with the obstacles

Steps to run my code

User Dependencies:

• Python 3.9
• IDE to run the program (I used VSCode)
• Libraries : numpy, argparse, matplotlib.pyplot, time

Instructions to run:

• Open an IDE
• Navigate to the folder where the .py file exists
• Upon running the code, the user will be prompted to enter coordinates, please have one space between the values.
• To visualize the exploration and path, please uncomment the plt.pause() on line 300
• The visuzaliztion using matplotlib is a bit slower so, to view the result, just run it.
• It will take some time to generate the plot. Thank you for being Patient.

Code:

• The code describes how to implement Dijkstra algorithm on a point robot
• Some notable functions are: | |--- C_obs_space() - Constructs obstacle space |--- Djikstra() - Implements Djikstra Algorithm |--- Action_set() - Implements motion of point robot to traverse

Special Instructions on giving Arbitrary start and goal nodes:

• (0,0),(1,1),(400,250),(399,249),(399,250),(400,0),(400,249),(0,250),(0,400),(250,0) are out of bounds
• I have defined an extra layer of bound to show the edges of the map.

Output:

• A plot of all explored nodes and a path depicting the shortest distance between start and goal node.