Manipulator Pathfinding using A*

This project implements pathfinding for a robotic manipulator on a plane using the A algorithm*. The manipulator consists of multiple segments, each with its own set of angles. The goal is to find the optimal path for the manipulator to reach a target position while avoiding obstacles.

Features

• Uses A* for optimal pathfinding.
• The map is divided into a grid with obstacles and reachable positions.
• Handles 2D manipulator segments and obstacles for real-world scenarios.
• Visualization of the pathfinding process.

Input Parameters

The algorithm takes the following inputs:

• n: Number of divisions for angles. Determines the granularity of rotational movements.
• echelon_points: A list of tuples representing the coordinates of the vertices of the manipulator's segments.
• obstacles: A list of tuples representing the coordinates of obstacles in the environment.
• start: A list of integers representing the initial configuration of the manipulator, where each value corresponds to an angle index.
• target: A list of integers representing the target configuration of the manipulator, where each value corresponds to an angle index.

Requirements

To run the project, make sure you have the following dependencies installed:

• Python 3.x
• NumPy
• Matplotlib
• import_ipynb (for notebook-based imports)

You can install the required libraries with:

!pip install numpy matplotlib import_ipynb