3D A* Path Planners

A*	Theta*	LazyTheta*

Quick-Start

1. Install ROS Melodic or Noetic

2. Downlaod Heuristic Path Planners Clone the repo, install dependencies with rosdep and compile it with catkin

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

# Clone the UAV simulator and this planner
git clone git@github.com:ChanJoon/uav_simulator.git
git clone git@github.com:ChanJoon/3D-Astar-Path-Planners.git

cd ..
rosdep update && rosdep install --from-paths src/ -y -r
catkin_make # catkin build

3. Launch a demo a request a path

• 3D A*:

roslaunch heuristic_planners planner.launch algorithm_name:=astar

• 3D Theta*:

roslaunch heuristic_planners planner.launch algorithm_name:=thetastar

• 3D LazyTheta*:

roslaunch heuristic_planners planner.launch algorithm_name:=lazythetastar

and send a goal point using RViz 2D Nav Goal.

✨ Key Differences from Original Version

This project is based on the original Heuristic Path Planners but introduces important improvements:

✅ Supports 3D grid maps, not just preprocessed static maps (checkout their .bt files)

✅ Works directly with live PointCloud2 topics

✅ Includes updated simulation support via uav_simulator

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ACKNOWLEDGEMENT

This work is build upon robotics-upo/Heuristic_path_planners.