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This repository was archived by the owner on Aug 6, 2024. It is now read-only.

Theta* and A* path planning

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alifahrri/grid_planning

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Theta* and A* path planning. The Theta* algorithm is implemented based on :

Nash, Alex, et al. "Theta^*: any-angle path planning on grids." AAAI. Vol. 7. 2007.

Theta* demo :

IMAGE ALT TEXT HERE

A* demo :

IMAGE ALT TEXT HERE

running

you can choose to use Theta* or A* and specifying cell size by passing argument to cmd :

  • run A* with cellsize of 10
    ./forward-search-gui 10 astar
  • run Theta* with cellsize of 15
    ./forward-search-gui 15 thetastar

p.s. : as you can see Theta* produce more realistic path than A*

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