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ENPM 661 PROJECT 3 PHASE 2 JAAD LEPAK ANSHUMAN SINGH Required libraries to install: numpy opencv math matplotlib Program Explanation Searches fixed map to find optimal path from user-defined start and end Action set limited to 5 directions (0 deg, 30 deg, 60 deg, -30 deg, -60 deg) While searching, threshold of 0.5 used for X and Y directions and 30 degrees for angle The goal is determined reached when within 1.5 radius region of user-defined end coordinates After solution is found, map is displayed with: Obstacles in RED Explored vector paths in BLACK Goal region in GREEN Optimal path shown in BLUE Different sections of code: Libraries Imports all libraries User Inputs (Error-checking and robot dimensions) Error-checking functions Helps restrict inputs when asking user Robot radius and clearance User inputs for radius and clearance Map Generates the map using algebraic expressions to represent obstacles Obstacle Check Returns true if a point x,y is inside an obstacle Returns false if point is outside obstacle User Input (Coordinates) Collects start coordinates, end coordinates, step size, and starting angle Starting angle is input as degrees, then code converts to radians Requires user to re type in coordinate is inside obstacle Action Set Defines five actions sets relative to current x,y, and theta angle Move straight Up 30 degrees Up 60 degrees Down 30 degrees Down 60 degrees Node class and functions Functions to store node information and calculate total cost Generate graph Uses A star algorithm to iterate action sets throughout map Records visited vectors to plot Backtrack Plots a blue line on the optimal path
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This repository contains the code for A* algorithm
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