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# path for a robot from a given starting point to a destination using the A-* planning algorithm in ROS

INSTRUCTIONS TO CANDIDATES

The objective of this assignment is to plan a path for a robot from a given starting point to a destination using the A-* planning algorithm in ROS. The attached .pdf provides instructions on the specific requirements/parameters as well as additional files to help facilitate the programming. I will also attach a screenshot of what exactly the A-* planning algorithm is.

CSE 468/568: Robotics Algorithms 1

CSE 468/568 Lab 4: A* Planning

The objective of this assignment is to plan a path for a robot from a given starting

point to a destination. Create a new package called lab4, and place the world files

(playground.pgm and playground.world) in the appropriate sub-folder.

The objective of the assignment is simple. Use A-* planning algorithm to find a route

from a default start point (-8.0, -2.0) to a default goal (4.5, 9.0). Please go through the

tutorial on ROS Parameters. The goal should be defined as two parameters goalx and

goaly both of which should be doubles. This allows us to set a new goal parameter, and

the robot should plan a path to the new goal.

There are a couple of challenges in implementing A-* planning as discussed in class.

The first challenge is to derive a graph representation of the workspace. This depends

on the map representation that the estimation block provides us. Typical examples of

such representations are occupancy grids - a grid representation with 1s and 0s with 1

indicating an obstacle in that cell and 0 representing an empty cell. For this assignment,

we have provided you such an occupancy grid. It is the file map.txt. It grids the world

as 1X1 cells. You should import this into your program as the map.

The second challenge is the heuristic for the estimated cost between the current node

and the goal. Given you know the current location and the goal, you can use Euclidean

distance between the current location and the goal as the heuristic cost.

Once planned, you should command your robot to execute the plan to go from start to

goal.

Submission Instructions

The assignment is due Sunday, Dec 12 just before midnight

(5/5)

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