Graph-Based_Planning_Assignment

Submission for Coursera's Modern Robotics Course's A* Graph Search Project

Directory layout:

code/main.py		- contains code to run planner
code/planner.py		- contains Planner class that contains A* algorithm and methods for loading/saving data
code/node.py		- contains Node class that contains data describing nodes in a graph network

data/edges.csv		- edge data in format [ID1, ID2, cost]
data/nodes.csv		- node data in format [ID, x, y, heuristic-cost-to-go]
data/obstacles.csv	- obstacle data in format [x, y, diameter]
data/path.csv		- path data in format [node_1, node_2, ..., node_goal]

a-star-derived-path-from-1-to-12.png    - screenshot of motion planning sim showing optimal path from 1 to 12
Scene5_motion_planning.ttt              - motion planning scene

Running the program:

python3 main.py

Can use command line args to specify other start/goal nodes or paths to data/outputs

args:

--start_node        [node id]
--goal_node         [node id]
--path_to_data      [relative path ending in /]
--path_to_output    [relative path ending in /]

Results

A*