Path_Planning_Algo_with_Animations

Directory Structure

.
└── Search-based Planning
    ├── bfs.py                                  # breadth-first
    ├── dfs.py                                  # depth-first
    ├── dijkstra.py                             # dijkstra
    ├── a_star.py                               # a*
    ├── ara_star.py                             # ara*
    ├── queue.py                                # FIFO, FILO, Priority queues
    ├── env.py                                  # environment: grid world, motions
    └── plotting.py                             # animation
└── Stochastic Shortest Path
    ├── value_iteration.py                      # value iteration
    ├── policy_iteration.py                     # policy iteration
    ├── Q-value_iteration.py                    # Q-value iteration
    └── Q-policy_iteration.py                   # Q-policy iteration
└── Model-free Control
    ├── Sarsa.py                                # SARSA : on-policy TD control
    └── Q-learning.py                           # Q-learning : off-policy TD control
└── Sampling-based Planning
    └── rrt_2D
        ├── rrt.py                              # rrt : goal-biased rrt
        └── rrt_star.py
    └── rrt_3D
        ├── rrt3D.py                            # rrt3D : goal-biased rrt3D
        └── rrtstar3D.py

Animations

Dijkstra's & A*

• Blue: starting state
• Green: goal state