This project implements the Anytime Non-Parametric A* (ANA*) algorithm for PR2 robot navigation through multiple scenes using the Pybullet physics simulation library. ANA* is a path planning algorithm that combines the advantages of A* with anytime computation, making it suitable for real-time robot navigation in dynamic environments.
In this README, we provide an overview of the project, installation instructions, and an example of how to use ANPPA* for PR2 navigation in Pybullet.
Follow these steps to set up the required environment:
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Install the required dependencies: Pybullet Numpy Matplotlib Pillow
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Run demo using
python3 demo.py