Implement Feature Rich ASTAR Pathfinder

[ClayJay3]

Path Planning Namespace

Overview

Objective

The pathplanning namespace introduces an ASTAR class implementing the A* algorithm, enhanced with object avoidance capabilities. The class seamlessly navigates around objects during path planning.

ASTAR Class

• The ASTAR class is the core component.
• It integrates the standard A* algorithm, but also incorporates object avoidance logic for dynamic path planning.

Object Representation

• Objects within the namespace have:
  • Location (should be stored using geoops::UTMCoordinate)
  • Radius defining their spatial extent.

Implementation Details

Class Structure

• The namespace pathplanner currently centers around the ASTAR class, but should be designed so that new algorithms can be added in the future.
• The class seamlessly merges A* algorithm logic with object avoidance, by automatically generating a path around the current obstacle data stored within the class.

Object Integration

• Method: AddObject(center, radius) to include objects in the planner. I might be useful to define a struct ASTARObject specifically for storing this data.
• Objects alter the planner's path calculation based on their spatial characteristics.

Path Planning Algorithm

• A* algorithm computes the optimal path considering object locations.
• The planner adjusts its route to circumvent objects efficiently.

[ClayJay3]

@RyanW83 What's the status of this? Do you think you could get this class written before January 20, 2024 when Sprint2b closes?

[Byrdman32]

Re-opening this issue as it is linked to PR #259.