Path Planning Algorithms

Path planning is the computational problem of finding a sequence of valid configurations that moves the robot from the source to destination.

Common Algorithms

Graph Search

• Dijkstra: Guarantees shortest path.
• A*: Heuristic search, faster than Dijkstra.

Sampling Based

• RRT (Rapidly-exploring Random Tree)
• RRT*: Asymptotically optimal version of RRT.

Implementation Example

// Simple A* pseudo-code structure
struct Node {
    int x, y;
    float g, h, f;
    Node* parent;
};