Putting it all Together

A* in the City

At this point, you've got the tools to put together a real planning solution! In this exercise, you'll bring them together to find your way through the city. The steps you'll take include:

• Read in your map of the world (colliders.csv) and create a grid representation of the environment
• Define start and goal locations, as well as a heuristic, and run A* through the grid to find a path of cells.
• Use collinearity and / or Bresenham to eliminate unnecessary waypoints.

And with that you have a planning solution! Follow along with the TODOs in the notebook below and if you get stuck you can always check out our solution by scrolling down to the link at the bottom of the notebook.