Space-Time AStar#1170
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I didn't find a home for path planning algorithms with dynamic obstacles, let me know if there is somewhere better for this to live :) I used I also didn't look at all of the CI jobs - will come back to address those tomorrow (it's time for sleep where I'm at) |
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@SchwartzCode Thank you for great PR!! I loved it.
Creating a new directory under here:
I think it is enough, but please check all CIs are green.
I think all CIs are running, but some are failed, 
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@AtsushiSakai Glad you like the PR! I fixed the CI |
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Thank you. @SchwartzCode I have 2 additional requests.
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Could you please create a PR to add the gifs for this repository?
https://github.com/AtsushiSakai/PythonRoboticsGifs
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Is it possible to add documentation for this new script based on the manual?
https://atsushisakai.github.io/PythonRobotics/modules/0_getting_started/3_how_to_contribute.html#step-4-write-a-document-about-the-algorithm
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PR into the gifs repo: AtsushiSakai/PythonRoboticsGifs#6 |
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Added a short doc entry here: 451e545 |
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Thank you. I have additional comments and questions. PTAL,
…_grid_search_main.rst
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Thank you!!. @SchwartzCode After, all CIs are green, I will merge this.
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Reference issue
What does this implement/fix?
This implements SpaceTime A* as outlined in this paper:
https://www.davidsilver.uk/wp-content/uploads/2020/03/coop-path-AIWisdom.pdf
This is a variant of A* that works with dynamic obstacles. I wanted to implement this to serve as a baseline before implementing Safe Interval Path Planning, which is a clever path planning algorithm that greatly reduces the number of node expansions in problems with dynamic obstacles.
Some examples of the SpaceTime A* algorithm running:
Additional information
CheckList