Description

Astar path planning algorithm that finds path for a non-holonomic differential drive robot from a start position to an end position.

Basic Build Instructions

1. Clone this repo.
2. Make a build directory in the top level directory: mkdir build && cd build
3. Compile: cmake .. && make
4. Run it: ./Planner.
5. The result will get saved in "path.csv"

Side note

This is not a complete project yet. There are still some problems in the planner, it's not converging for several cases, which will be addressed in future.