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All Projects → richardos → occupancy-grid-a-star

richardos / occupancy-grid-a-star

Licence: MIT license
A Python implementation of the A* algorithm in a 2D Occupancy Grid Map

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python
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a-staroccupancy-grid-map

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2D grid map A*

A Python implementation of the A* algorithm in a 2D Occupancy Grid Map, based on Claus Brenner's Path Planning lectures.

Requirements

The implementation runs on both Python 2 and 3. Additionally, it requires the following python packages (available via pip):

  • numpy
  • pypng
  • matplotlib

Examples

Two examples are given for both binary and occupancy grid maps, each one with different allowed movements (4-connectivity and 8-connectivity respectively). Note that the examples are assuming that the directory containing the provided modules (i.e. gridmap.py, a_star.py, utils.py) is on sys.path.

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