Path Planning with World Semantics

Design and Implementation

During the project, design and implementation took place together as more features were needed in the existing demo implementation of A* we adapted for this project. Such features included node pools to improve memory management and an improved user interface to allow better testing of environments.

For the purposes of our implementation, we shall use standard A* with a regular interruption to its execution so that the creation of new path nodes can be observed (and hence animated) on screen. Real-time A* is normally executed for a given length of time per frame, or to a certain depth of exploration, but we will be expanding only the best node each frame. Of course, the algorithm will have the epsilon admissibility features added to it as well.

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Specification Design and Implementation

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