PyGame Path Planning Visualizer

A visualization tool for multi-robot path planning using the A* algorithm. This project provides an interactive environment to generate mazes, set obstacle configurations, and visualize multiple robots navigating through paths.

Description

This application demonstrates path planning algorithms for multiple robots in a grid environment. It features:

• Interactive maze generation and obstacle placement
• Multi-robot path planning and visualization using A* algorithm
• Real-time robot movement simulation
• Customizable robot targets and parameters

Requirements

• Python 3.6+
• NumPy
• PyGame

Setup

1. Clone this repository:

   git clone https://github.com/yourusername/PyGame_path_planning_visualizer.git
   cd PyGame_path_planning_visualizer
   

2. Create a virtual environment (optional but recommended):

   python -m venv venv
   source venv/bin/activate  # On Windows: venv\Scripts\activate
   

3. Install required dependencies:

   pip install -r requirements.txt
   

Usage

1. Generate a Maze

Run the maze generator to create obstacle configurations:

python generate_maze.py

Controls:

• Left-click: Add/remove obstacles on the grid
• D key: Clear all obstacles
• Close window: Save the maze to maps/obstacles1.data

2. Multi-Robot Path Planning

Run the multi-robot simulation:

python multi_robots.py

Controls:

• Left-click: Set a target position for the selected robot
• 1, 2, 3 keys: Select between robots 1, 2, and 3
• Close window: Exit the simulation

The simulation shows three robots (red, green, and blue) navigating to their targets using the A* path planning algorithm. Each robot follows its calculated path while avoiding obstacles.

Project Structure

• a_star.py: Implementation of A* pathfinding algorithm
• generate_maze.py: Tool for creating maze configurations
• grid.py: Grid environment implementation
• multi_robots.py: Main simulation for multiple robots
• planner.py: Path planning utilities
• robot3.py: Robot behavior and rendering implementation
• maps/: Directory containing obstacle configurations