ENPM 661 Project 2: BFS Path Planner for a Point Robot

About

This Project involves a Point Robot in an Enivonment with obstacles, and it must navigate from a start point to a goal point and find the optimal path using the BFS (Breadth First Search) Algorithm. The obstacles in the environment are formed using Semi Algebraic Inequalities and Half Planes

Link to repository : github.com/khuzema-h/Path_Planner

Dependencies

Ensure you have the following Dependencies in order to run the code

• Python 3
• Matplotlib
• Opencv (cv2)
• Numpy

View Map of Environment

Run map.py to view the map generated for the environment

Running the Code

• Run the file names BFS_khuzema_habib.py
• The program will prompt the user to enter the Start and Goal Coordinates.
• The program will ask the user to re-enter the coordinates if the entered coordinates are on an obstacle or out of bounds
• The program then prints the time taken to find the path in the terminal console and displays an image of the path taken as well as the searched area
• A video file of the animation is saved as 'bfs_path_planner.mp4'

Sample Code Output

Workspace is 180 mm wide and 50 mm in height, please enter valid coordinates within the given range...

Enter the Start Coordinate(x): 0 Enter the Start Coordinate(y): 0 Start Coordinates are Valid, Proceeding.... Enter Goal coordinate(x): 170 Enter Goal coordinate(y): 20 Goal coordinates are valid. Finding Path with BFS... Time taken to find the path: 3.1321 seconds Path found! Video saved as bfs_path_planner.mp4