// the find
zhm-real/PathPlanning
Common used path planning algorithms with animations.
A Python collection of path planning algorithms — A*, D*, RRT and a dozen variants each — with matplotlib animations showing the search process step by step. Aimed at robotics students and researchers who want to see how these algorithms actually behave, not just read about them in a paper.
The animated GIFs are the real value: watching D* Lite replan in real time or seeing how Informed RRT* constrains sampling to an ellipse makes these algorithms click in a way pseudocode never does. Coverage is genuinely broad — 25+ algorithms across search-based and sampling-based families, plus 3D variants for most of them. Each algorithm links directly to the original paper, which is useful when you want to go deeper. The CurvesGenerator module (Dubins paths, Reeds-Shepp, cubic splines) is a nice bonus that often gets overlooked.
Abandoned since February 2023 with no activity — the .pyc files committed to the repo suggest it was never set up for collaboration. Everything runs on a hardcoded 2D grid; there's no interface to drop in your own environment, costmap, or robot model, so it's a demo, not a library you'd actually build on. No tests anywhere, and the code quality is inconsistent — some files are clean, others duplicate utility code that lives in neighboring modules. Python 3.7 bytecache files are checked in, which means this was written against a now-unsupported interpreter and nobody has touched it since.