Robotic path planning

This is a collection of robotic 2D path planning algorithms written by myself.

Content:

Searching Based:

• Dijkstra
• A*
• D*
• LPA*
• D*-lite
• Hybrid A*

Sampling Based:

• RRT
• RRT*
• RRT*-reeds-shepp

Step by step walktrough:

Dijkstra: https://www.youtube.com/watch?v=B2mUby28wsw&t=31s

A* : https://www.youtube.com/watch?v=cMXApzVcOeY&t=598s

( More videos coming soon )

Packages:

• numpy (for array operation)
• math (to use sin/cos)
• cv2 (for loading map images and visulization)
• random (optional, generating random numbers)
• bresenham (for getting the grids covered by a line)
• time (optional, for timing only)