Robot Autonomy

In this section, I publish some of my works in robot autonomy course in CMU, which mostly contains the algorithm for path planning.

Sample algorithm that I have implemented:

A Star Planner: source code

A Star planner is an algorithm to find path by calculating each possible route’s cost to the goal (which is called heuristic cost). Starting from the start point, I calculated each neighbor’s heuristic cost of the starting point, and then go to the point which has the lowest cost, and then keep repeating until the goal point is achieved.

 

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