Feature: Bidirectional A*

[guilyx]

Overview

This PR adds a bidirectional A* path planning algorithm that simultaneously searches from both the start and goal positions. This approach can be more efficient than standard A* as it explores fewer nodes in many scenarios.

Changes

• New path planner: src/components/plan/astar_bidirectional/astar_bidirectional_path_planner.py

  • Implements bidirectional A* algorithm with forward and backward searches
  • Detects when searches meet and combines paths
  • Supports 8-connected neighbors with proper diagonal movement costs
  • Includes visualization and path saving functionality

• Test: test/test_astar_bidirectional_path_planning.py

  • Unit test for the bidirectional A* simulation

• Simulation: src/simulations/path_planning/astar_bidirectional_path_planning/

  • Complete simulation script with map file support
  • Generates search and navigation GIFs

• Documentation: Updated README.md

  • Added bidirectional A* to Path Planning section
  • Added entry in Table of Contents

Benefits

• More efficient pathfinding in many scenarios
• Follows existing codebase patterns and conventions
• Includes comprehensive tests and documentation

Testing

• All tests pass successfully
• Simulation runs correctly with map file support

[guilyx]

@ShisatoYano I can generate a gif for an environment where Bidir A* actually performs better if needed. The sim here was a bad scenario for it

Also, any rule on maps ? do you want to use the same map for all planners ?

[ShisatoYano]

@guilyx Wow, thank you for this fantastic PR! Bidirectional A* is a great addition to this project.

Yes, I wanna ask you to generate a gif for an environment where Bidir A* actually performs better. Can you improve the current scenario?

We don’t have any rules for map. You can change the location of obstacles to show the better performance of Bidir A*.

[ShisatoYano]

Hi @guilyx, your PR is LGTM and was merged successfully. I want to announce your PR was merged on X and LinkedIn. Could you tell me those accounts if you have?