Single robot path planning algorithms implemented in MATLAB. Including heuristic search and incremental heuristic search methods.
(Procedural programming)
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- A* (can turn into Dijkstra by changing the heuristic function)
- LPA*(Life Long Planning A*)
- D*Lite (With Optimized Version)
- Go into the methods directory.
- Run the RUN_[Methods_name].m file
- AStar/RUN_Astar.m
- LPAStar/RUN_LPAstar.m
- DStarLite/RUN_DstarLite.m
Apart from each path planning method's directory, there are two general directories:
- common: common functionalities used in all planning methods
- models: functions for creating and saving models (configurations).
can change this setting in the RUN_[method].m file
- distance type: Model.distType ('euclidean' or 'manhattan')
- distance type: Model.adjType ('4adj' or '8adj')
- expansion method: Model.expandMethod
- 'random': onlly based on distance cost
- 'heading': based on distance and heading
- create_model_method: 'from_map_file', 'from_samples', 'from_custom'
Initial configuration includes:
- Map (free nodes)
- obstacles (occupied nodes)
- robot's start node
- robot's goal node
- ...
There are three methods to create initial configuration (model):
- from_map_file: from a map.mat file (square matrix, 0: occupied, 1: free)
- from_samples: from a list of ready samples
- from_custom: from createModelBase.m file which you can edit and customize
You can set the method in the RUN_p[method].m file.
To change the configuration in from_custom method, you can edit the createModelBase.m file in models directory.
Includes final path modification (green path in the simulation pictures).
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- Koenig, S., & Likhachev, M. (2002, July). D* lite. In Eighteenth national conference on Artificial intelligence (pp. 476-483).
- E. Khanmirza, M. Haghbeigi, M. Nazarahari and S. Doostie, "A Comparative Study of Deterministic and Probabilistic Mobile Robot Path Planning Algorithms," 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Link