Single robot path planning algorithms implemented in MATLAB. Including heuristic search and incremental heuristic search methods.

(Procedural programming)

• A* (can turn into Dijkstra by changing the heuristic function)
• LPA*(Life Long Planning A*)
• D*Lite (With Optimized Version)

• Go into the methods directory.
• Run the RUN_[Methods_name].m file
  • AStar/RUN_Astar.m
  • LPAStar/RUN_LPAstar.m
  • DStarLite/RUN_DstarLite.m

Apart from each path planning method's directory, there are two general directories:

• common: common functionalities used in all planning methods
• models: functions for creating and saving models (configurations).

can change this setting in the RUN_[method].m file

• distance type: Model.distType ('euclidean' or 'manhattan')
• distance type: Model.adjType ('4adj' or '8adj')
• expansion method: Model.expandMethod
  • 'random': onlly based on distance cost
  • 'heading': based on distance and heading
• create_model_method: 'from_map_file', 'from_samples', 'from_custom'

Initial configuration includes:

• Map (free nodes)
• obstacles (occupied nodes)
• robot's start node
• robot's goal node
• ...

There are three methods to create initial configuration (model):

• from_map_file: from a map.mat file (square matrix, 0: occupied, 1: free)
• from_samples: from a list of ready samples
• from_custom: from createModelBase.m file which you can edit and customize

You can set the method in the RUN_p[method].m file.

To change the configuration in from_custom method, you can edit the createModelBase.m file in models directory.

Includes final path modification (green path in the simulation pictures).

• Koenig, S., & Likhachev, M. (2002, July). D* lite. In Eighteenth national conference on Artificial intelligence (pp. 476-483).
• E. Khanmirza, M. Haghbeigi, M. Nazarahari and S. Doostie, "A Comparative Study of Deterministic and Probabilistic Mobile Robot Path Planning Algorithms," 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Link