Implementation of A* on a point robot

This repository contains code to find a path between the start node and the goal node for a point robot using A* algorithm.

The action set for this project is:

where, L represents the step size.

The threshold distance to reach the goal node is 1.5 units without any constraint on the orientation.

Required libraries:

1. NumPy
2. OpenCV
3. queue
4. math
5. matplotlib

Instructions to run the code:

python A_star.py

Program accepts step size as input. Below output is for step size of 5.

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