pathplan 0.0.1

A lightweight Python library for path planning.

PathPlan

A lightweight, extensible Python library for 2D path planning and navigation. PathPlan provides a unified interface for implementing, comparing, and visualizing a wide array of classic and modern pathfinding algorithms.

Features

• Unified Interface: All planners follow a consistent BaseSolver API.
• Rich Algorithm Library: Includes 12 different path planning strategies ranging from graph-search to sampling-based and reactive methods.
• Standardized Mapping: Uses a normalized GridMap (0.0 for free space, 1.0 for obstacles).
• Visualization: Built-in utilities for rendering search progress (explored nodes/edges) and final paths.

Installation

Install the library directly from PyPI:

# Basic installation
pip install pathplan

# Install with plotting support
pip install pathplan[plot]

Alternatively, for development or to use the latest source:

git clone https://github.com/alejotoro-o/pathplan.git
cd pathplan
pip install .[plot]

Quick Start

import numpy as np
from pathplan.core import GridMap
from pathplan.classic import AStarPlanner
from pathplan.utils import Visualizer

# Create a 20x20 grid with some obstacles
data = np.zeros((20, 20))
data[5:15, 10] = 1.0  # Vertical wall

# Initialize map and planner
grid_map = GridMap(data)
planner = AStarPlanner(grid_map)

# Plan path
start, goal = (0, 0), (19, 19)
path, explored = planner.plan(start, goal)

# Visualize
viz = Visualizer(grid_map)
viz.plot_path(path, explored, title="A* Path Planning")

Available Algorithms

Code	Full Name
DijkstraPlanner	Dijkstra's Algorithm
AStarPlanner	A* Search Algorithm
BidirectionalAStarPlanner	Bidirectional A*
ThetaStarPlanner	Theta* (Any-Angle A*)
JPSPlanner	Jump Point Search
DStarLitePlanner	D* Lite
RRTPlanner	Rapidly-exploring Random Tree
RRTStarPlanner	RRT* (Optimal RRT)
InformedRRTStarPlanner	Informed RRT*
PRMPlanner	Probabilistic Roadmap
APFPlanner	Artificial Potential Fields
Bug2Planner	Bug2 Algorithm

Testing

Run the suite of automated tests to verify planner integrity:

pytest -v

License

This project is licensed under the MIT License - see the LICENSE file for details.