ENPM 661- Planning for Autonomous Robots (Spring 23)

Project 3, Phase 1: Implementation A* algorithm for a mobile Robot

Team Members:

Name: Vipul Patel UID: 119395547

Name: Poojan Desai UID: 119455760

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GitHub Links: https://github.com/vipulp16/ENPM661-Project-3_Phase-1

Drive link to output sample video: https://drive.google.com/file/d/19YLIAQdG4kA8U5P354tskMTcjYstq_fo/view?usp=sharing

Code: - Code consists of Generating an Obstacle space, Possibe Movement in 5 Directions ( +60, +30, 0, -30, -60 degree), Using A* Search Algorithm, Back Tracking to find shortest path and Visualizing the Tracked Path.

• The code has been delineated very clearly in the comments provided in the Code.

Dependencies: - python 3.11.0 (works for any python 3 version)

• Python running IDE. (I used Visual Sudio Code to program the Code and Execute the Code)
• Libraries to be install: numpy, time, math, cv2, sys, copy

Instructions to Run the Code:

To get the Output:

• Open the program file named "a_star_vipul_poojan.py in any IDE.

• Run the Program

• In the Console, the program asks for:

• Robot clearence space

• Robot Radius

• Robot Step Size (Enter integer between 1 to 10).

• The x and y coordinates of Start and orientation of robot at start node(Angle should be a multiple of 30).

• The x and y coordinates of Goal and orientation of robot at Goal node(Angle should be a multiple of 30).
  Enter as prompted. Ex: Robot clearence space: 5, Robot Radius: 5 (As per requriement); Step size: 1; Start node(x and y): 50, 50; Initial orientation: 90; Goal node (x and y): 400, 20; Final orientation : 60.

• The Output Plot with planned Path should be Visible.

Understanding the Output Plot

• The Robot movable space is shown in Black Color
• The Pixels in Red are the Obstacles.
• The Pixels in Yellow is the Clearance Space.
• The explored path is marked by white color.
• The Planned Path is shown by Red Lines.
• The start node is shown in goal node is shown in green color

Libraries Used:

• numpy: Perform Operations on array
• math : Perform mathematical operations
• cv2 : Display the generated array as output
• sys : Exit the code with a error message
• copy : Copy the array
• time : Calculate the time taken to find the path