Path planning package. Two approaches are implemented in this package
- quadtree decomposition over the map
- uniform grid over map
Planning algorithm is A* search
http://www.youtube.com/watch?v=jqjlsIAQDT0 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.
./run_planner which generate intermidiate text file for output.
This implementaion assume obstacles are all circles
Menglong Zhu, menglong AT cis upenn edu