Collaborative astar #1247
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Collaborative astar #1247
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SchwartzCode
commented
Jul 10, 2025
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| This is a sub-optimal algorithm because no replanning happens once paths are found. It does not guarantee the shortest path is found for any particular robot, nor that the final set of paths found contains the lowest possible amount of time or movement. | ||
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| TODO: include a gif |
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Reference issue
What does this implement/fix?
This PR implements a simple priority based planner. It plans paths for multiple agents in an environment with dynamic obstacles. It plans in descending order of distance from start position to goal. Once a path is planned for an agent, all future plans will avoid that path.
The algorithm outlined in section III of this paper: https://pure.tudelft.nl/ws/portalfiles/portal/67074672/07138650.pdf
Additional information
PR to gifs repo: AtsushiSakai/PythonRoboticsGifs#8
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