A* Implementation

December 10, 2014

Overview

A* Implementation

A* is a search algorithm commonly used for path finding around obstacles. The implementation of this algorithm was an assignment for our ME449-Robotic Manipulation class.

The planner takes in the following inputs and returns a graph diplaying the available path (if there is one)

• robot radius
• radii and coordinates of obstacles
• coordinates of potential nodes
• coordinates of start and goal nodes

The code can be found on my GitHub page