Robot Path Planning with Djikstra's Algorithm

Usage

./rpp_build # Uses cmake to build the project and execute
./rpp_debug # Builds project with Debug Mode on for use with gdb on the command line
./rpp_xcode # Creates an Xcode project with cmake

Goals

Generate map for a circular robot to traverse.

• Find the optimal path from a given start location to given end location. Approaches
• Use BFS or Dijkstra's to calculate an optimal path.
• Use A* to generate the probabilistic model of graphs to traverse through with BB8

Deliverables

• Create an interface to build up a map for robot.
• Place obstacles on the map.
• Visualize the map and the optimal path that robot will traverse.
• Save and load the map from a file.
• Provide example usage of the library.

Interface

Map Class

This should contain a binary grid of the map with each spot containing distances to the closest obstacle.

• Takes in initial parameters of map size (M x N) and robot radius.

Have a function to add obstacles to the map.

• This should take in as parameter a list of circular obstacles

Class should create the best safe path given a start and end location on the map.

• Generate the configuration space within which to plan a path.
• Use Dijkstra's algorithm.
• Use A* algorithm.
• Compare the performance of these two approaches.

Obstacle Class

Holds an obstacle with given center and radius. Simplified to a struct, change to a class if more complexity is needed.