Path Planner

Work in progress

Path planner is a package to experiment with different path planning algorithms.

Algorithms used:

• Dijkstra
• Bellman-Ford
• A*
• RRT
• RRT*

And, their variants.

Main Dependencies

• NumPy
• Matplotlib
• NetworkX

Components

The package consists of 3 parts:

• The algorithm solver server for selecting between different algorithms.
• The graph server for representation .
• The workers server for parallization and concurrency.
• The plotter server for visualization.

How it works

Create you maze text file for the program to load it up, here are some examples:

• Simple maze:

• Complex maze:

Choose your start and endpoint and the solver algorithm:

Todo

• Implement and add more algorithms by hand.
• Use Numba and multithreading for concurrency and parallization.
• Unit testing and benchmarking.

Future Plans

• Code refactoring and separation of concerns.
• Integration with ROS2.
• Rewrite in C++.