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A* search on 2D map, grid & quadtree
This project forked from dreamdragon/2d-planning
A* search on 2D map, grid & quadtree
Author: Menglong Zhu, menglong AT cis upenn edu DESCRIPTION: Path planning package. Two approaches are implemented in this package 1. uniform grid over map 2. quadtree decomposition over the map Planning algorithm is A* search video of quadtree decomposition: http://www.youtube.com/watch?v=jqjlsIAQDT0 visualization use ROS markers in rviz COMPILATION: Cmake file is provided. $ cmake . $ make Only the visualization part depends on ROS rviz package. Other part of the code are stand alone. If you don't have ROS installed, simply comment out the visualization part of the code in run_planner.cpp. HOW TO RUN: ./run_planner <map path> which generate intermidiate text file for output. NOTE: This implementaion assume obstacles are all circles
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