marco-luzzara / floor-cleaner Goto Github PK

A* is currently used to find the shortest path in the grid, when the cleaner needs to move to another area.
in the worst case, A* needs exponential memory storage. It is not feasible in an embedded environment given the limited memory availability. A possible solution is to use SMA* (Simplified Memory-Bounded A*), see

https://it.wikipedia.org/wiki/SMA*
https://laconicml.com/simplified-memory-bounded-a-star/
https://stackoverflow.com/questions/38554515/most-memory-efficient-algorithm-for-finding-a-path-on-a-grid

The map info can be read using DMA, especially after having read the number of rows and columns. I can initialize a matrix of rows * columns and then fill it with a single call of HAL_UART_Receive_DMA. The map will consist of an array of pointers to the segments of the buffer passed to HAL_UART_Receive_DMA.