astar

A small package that implements the A* (A star) pathfinding algorithm.

Example

import (
	"fmt"
	"github.com/sperre/astar"
)

func main() {
	// If your map is something more than 2D matrix then you might want to modify adjacentNodes
	map_data := astar.GetMapFromImage(test.png)

	// Returns a list of nodes from start to stop avoiding all, obstacles if possible
	startx, starty :=  0,  0
	stopx, stopy   := 99, 99
	dir8 := false // Use 4 directions, not 8
	shortest_path := astar.Astar(map_data, startx, starty, stopx, stopy, dir8)
}

Origin

This library was developed for Eurobot-NTNU 2012, based on code from: https://github.com/humanfromearth/gopathfinding

Compared to the original library, our version was benchmarked to run approximately 27x faster.