yashtrikannad / mpl

C++ Motion Planning Library for 2D Grid Maps

mpl

Motion Planning Library for Grid Maps

This library aims to provide pathfinding algorithms for grid based maps which are thoroughly unit tested and benchmarked for use in Robot Path Planning and Game development.

Currently the library provides the following path planning algorithms to the users:

1. Breadth First Search
2. Depth First Search
3. A-Star Heuristic Search
4. Jump Point Search

The following features are planned to be added in the future:

1. Faster and Flexible versions of A-star
2. Sampling Based Algorithms for Larger Search Spaces
3. Support for 3 Dimensional Planning

mpl's Issues

JPS opens add some unnecessary jump points to the open set. (Improve Performance)

jps algorithm is currently add some wrong(extra) jump points which can be skipped. Investigate why this is happening and correct it