A Python implementation of the A* algorithm in a 2D Occupancy Grid Map, based on Claus Brenner's Path Planning lectures.
The implementation runs on both Python 2 and 3. Additionally, it requires the following python packages (available via pip):
- numpy
- pypng
- matplotlib
Two examples are given for both binary and occupancy grid maps, each one with different allowed movements (4-connectivity and 8-connectivity respectively). Note that the examples are assuming that the directory containing the provided modules (i.e. gridmap.py, a_star.py, utils.py) is on sys.path.