Drone Path Finding Algorithm

A algorithm that simulates the path of drone in 2D plane, it tries to ensure that each drone takes minimum time to reach destination and also not collide with each other.

Run Locally

To run this project in your computer is very simple you just need any C++ compiler. After that you can clone this repo into your PC and run the Drone Path Finding.cpp file with your compiler.

Clone the project

  git clone https://github.com/deepdarshan21/Shortest-path-for-drones.git

Go to the project directory

  cd Shortest-path-for-drones

Screenshots

Input

Output

Project Explain

The code is an implementation of the A* search algorithm used for finding the shortest path between two points on a 2D grid with an option of considering varying adjacency types with different penalties for collisions.

• The Drone class contains the start, end, start_time and path properties. It also has a constructor that accepts start, end, and start time values, and an operator overloading method for < that compares the starting time of two drones.
• get_adjacent_positions function is used to get all adjacent positions for the given position on the 2D grid based on the given adjacency_type i.e either 4 or 8. These adjacent positions are returned as a vector.
• heuristic function is used to calculate the heuristic value (Manhattan distance) between a given position and the end position. The calculation is based on the absolute difference between the x and y values of the two positions.
• The hash_pair struct is a function object that overrides the call operator and implements the hash function to create a hash value for a pair of template types.
• a_star function is an implementation of A* search algorithm with an option of considering 4-adjacency or 8-adjacency. collision_penalty is used to assign extra cost to cells that would collide with another drone's path. The function returns a vector of pairs representing the path from the start position to the end position.
• get_paths function takes a vector of Drone objects, grid_size, adjacency_type, and collision_penalty as inputs, and returns a vector of vectors (representing paths for each drone). Active drones are sorted by their starting time, and a_star function is invoked to calculate their paths, avoiding the previous paths of all other drones.
• Finally, the main function creates a vector of Drone objects named drones and then calls the get_paths() function to obtain the paths for each drone. The obtained paths are then printed to the console with the position coordinates of each point in the final path.

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Feedback

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