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Pathfinding Visualizer

MIT CI

A tool for visualizing numerous pathfinding algorithms in two dimensions.

This project involves minimal implementations of the popular planning algorithms, including both graph-based and sampling-based planners. We provide an easy-to-use GUI to control the animation process and explore different planner configurations. Current implementation of the project involves four search-based planning algorithms: BFS, DFS, DIJKSTRA and A-Star and two sampling-based planners: RRT and RRT*. The project extensively uses SFML, ImGui and Modern C++ features such as smart pointers, lamda expressions along with multi-threading concepts.

panel1 panel2

Dependencies

Basic Build Instructions

The project depends on SFML, Dear ImGui and ImGui-SFML. However, you are not required to install external dependencies by yourself. The following build instructions will manage all the necessary external dependencies for you.

  1. Clone this repo.
  2. Make a build directory in the top level project directory: mkdir build && cd build
  3. Compile: cmake .. && make
  4. Run it: ./main.

TODO

Graph-based planners

  • BFS
  • DFS
  • DIJKSTRA
  • A*
  • Bidirectional-A*
  • D*
  • LPA*

Sampling-based planners

  • RRT
  • RRT-Connect
  • RRT*
  • Informed-RRT*
  • FMT*
  • BIT*
  • ABIT*
  • AIT*

Related Publications

  • DIJKSTRA: A Note on Two Problems in Connexion with Graphs
  • A*: A Formal Basis for the Heuristic Determination of Minimum Cost Paths
  • LPA*: Lifelong Planning A*
  • RRT: Randomized kinodynamic planning
  • RRT*: Sampling-based algorithms for optimal motion planning