Dynamic Path Planning

Introduction

This program demonstrates how to dynamically plan a path from a begin point to an end point, where the environment is incrementally scanned. The simplest A* algorithm is used to plan a path from current position to destination using currently scanned map. Different with traditional path planning, it can plan route for completely unknown environment.

The source code can be downloaded at: https://github.com/bushuhui/dynamicPathPlanning

Requirements:

• Qt4 (sudo apt-get install libqt4-core libqt4-dev)

Compile:

qmake pathplan_gui.pro 
make

Usage:

./pathplan_gui

Keyboard:

• ‘L’ - load a map
• ‘B’ - Begin dynamic path planning (step)
• ‘N’ - Next step
• ‘H’ - Automatically run
• ‘P’ - A* path planning
• ‘C’ - Clear results

Mouse:

• ‘Right click’ - open menu
• ‘Scroll - up’ - Zoom out
• ‘Scroll - down’ - Zoom in

Plateform:

Only test on Linux Mint 16 64-bit.

Screenshot: