Path planning package. Two approaches are implemented in this package

  1. quadtree decomposition over the map
  2. uniform grid over map

Planning algorithm is A* search

Video demo of quadtree decomposition: visualization in ROS in rviz


Cmake file is provided. $ cmake . $ make

Only the visualization part depends on ROS rviz package. Other part of the code are stand alone. If you don't have ROS installed, simply comment out the visualization part of the code in run_planner.cpp.

How to run:

./run_planner which generate intermidiate text file for output.


This implementaion assume obstacles are all circles


Menglong Zhu, menglong AT cis upenn edu