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Grid-based path planning for a differential drive robot

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2022 AMR Final Project

Final project for the course of Autonomous and Mobile Robotics 2021/2022.

Student: Alessandro Lambertini Mat: 1938390;

Student: Denise Landini Mat: 1938388;

Student: Gianluca Lofrumento Mat: 1956579;

📝 Assignment

  1. Implement D* and the two versions of D*Lite;
  2. Implement Field D*;
  3. Re-Implement these 4 algorithms as an add-on for this repository Link 🔗;
  4. Compare the performance of the algorithms;
  5. Implement improved versions of D*, D*Lite and Field D*;
  6. Test these algorithms on coppeliaSim with a differential drive robot.

📜 Report

  • Report Link 🔗

  • Presentation Link 🔗

    In these files you can read more about the code and the result of the project.

💯 Final score:

Score: 30/30

🙋 Info

for any doubt or clarification contact us on:

🎞️ Snapshots


Global Map


D* planning and execution.


D* Lite v1 planning and execution.


Field D* planning and execution.


Simulation on CopeliaSim