Experiment of a path planning algorithm using A* in a 2d environment.
The planning done in two stages: global using defined graph for the a map, and local planning which use cell decomposition to decompase the detailed map info and updated while robot navigate the map.
The expereimnt is done using vrep environment with c++ remote code.
Demo Videos:
(1) https://drive.google.com/open?id=0B6uQBKIOjVygd3Y2eUV1dndzWm8
(2) https://drive.google.com/open?id=0B6uQBKIOjVygWDZSNWNDakNQMDA