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 18 different path planning strategies ranging from graph-search to sampling-based, reactive, metaheuristic, and reinforcement learning 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

Classic Planners (pathplan.classic)

Metaheuristic Planners (pathplan.metaheuristic)

Requires the external metaheuropt library.

RL Planners (pathplan.rl)

Requires the external rlforge library.

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.