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Path Planning using Dijkstra Algorithm

Packagist

Authors

Arpit Aggarwal Markose Jacob

Introduction to the Project

In this project, the Dijkstra motion planning algorithm was used on a point robot and rigid robot to navigate in a configuration space consisting of static obstacles.

Results

Comparison of Algorithms, A-star and Dijkstra (blue are the explored region): Screenshot

Software Required

To run the .py files, use Python 3. Standard Python 3 libraries like numpy, heapq and OpenCV are used.

Instructions for running the code

To run the code for finding the path, follow the following commands:

cd codes
python Dijkstra_point.py

cd codes
python Dijkstra_rigid.py

Credits

The following links were helpful for this project:

  1. https://github.com/AtsushiSakai/PythonRobotics