PointRobotPlanning

Planning for a point robot using Dijkstra algorithm

Requirements

Python 3 Open CV

Arena:

Steps to execute

python3 Dijkstra.py

Terminal will show the final path after computation is finished and a OpenCV showing robot exploration space will be launched. On closing exploration space video, the final path plot visialisation can be seen
Goal is indicated by green text on map

Results

Original speed	4xspeed explore all

Path plot example

Note:

Visulation done using Mathplotlib can be seen on branch Mathplotlib As this visualtion is slow becuase of Mathplotlib limitations, same visialisation was implemented using OpenCV which is present in the main branch.

Move Logic

Find possible moves for each step

^{Figure 1: Possible moves}

Weight for each action is as follows:

^{Figure 2: Weight of each action}