Global Planning System

Overview

As part of the Navigation Stack project at Miko.AI, I developed the Global Planning system, a crucial component that handles high-level path planning for autonomous navigation.

Technical Details

Algorithm Implementation

• Developed and optimized A* algorithm implementation for efficient pathfinding
• Optimized it further for mid-path route recalculation by implementing the D* algorithm.
• Created custom heuristic functions to improve path optimization
• Designed flexible cost functions to account for various environmental factors

Dynamic Route Generation

• Built a D* system for dynamic route recalculation based on environmental changes
• Implemented efficient graph-based representation of the environment
• Created waypoint generation system for complex paths
• Developed path smoothing algorithms for natural movement