A* & Dijkstra-based Path Planners

This repository contains MATLAB implementations of path planning algorithms based on Dijkstra's algorithm and A* algorithm for grid-based environments.

Dijkstra's Algorithm

Dijkstra's algorithm finds the shortest path between nodes in a weighted graph by iteratively selecting the node with the smallest known distance, updating its neighbors' distances, and marking it as visited. It ensures the shortest path in graphs with non-negative weights.

A* Algorithm

The A* algorithm enhances Dijkstra's by using heuristics to prioritize paths. It combines the actual cost to a node with an estimated cost to the goal, speeding up the search for the shortest path, especially in large graphs or grids.

Contents

• AStarGrid.m: Implementation of the A* algorithm for grid-based pathfinding.
• DijkstraGrid.m: Implementation of Dijkstra's algorithm for grid-based pathfinding.
• run.m: Script to run and test the path planning algorithms.

Features

• Path planning in grid-based environments
• Visualization of the pathfinding process
• Customizable start and goal positions

Usage

• Run the script:

  run.m