Motion Planning

Motion planning or path planning is a process of determining series of configuration states of an entity to reach a goal state without collision with an obstacle. For a motion planning algorithm to be efficient it must be:

1. Output the shortest path
2. Require less computational time
3. Require the least amount of storage

Two of the simplest and widely used algorithms of Motion Planning are

1. Dijsktra's Shartest Path:
2. A* Shortest Path Results:

• Ground Truth

• Dijsktra's Shortest Path Algorithm

• A* Shortest Path Algorithm

• A* using ROS Maps
• 

Resources:

1. Motion Planning:
   • https://www.cs.cmu.edu/~16311/current/schedule/ppp/Lec09-MotionPlanning1.pdf
2. Dijsktra's Shortest Path
   • https://www.codingame.com/playgrounds/1608/shortest-paths-with-dijkstras-algorithm/dijkstras-algorithm
   • https://youtu.be/XB4MIexjvY0
3. A* Shortest Path
   • https://youtu.be/ySN5Wnu88nE
   • http://theory.stanford.edu/~amitp/GameProgramming/AStarComparison.html