A* Pathfinding with Cost Map

This project integrates a cost-based map with the A* pathfinding algorithm written in Python to find optimal paths while avoiding high-cost areas and obstacles. It is designed for Task 2 of the RoboBoat competition, where a surface vehicle navigates through a channel made of red and green buoys, avoiding obstacles (yellow buoys).

Requirements

Install the required Python libraries:

pip install -r requirements.txt

Files

• PathFinderA_star.py: The main script implementing the pathfinding.
• CostMap.py: Defines the start, goal, and cost points.

Running the Script

Run the pathfinding script:

python PathFinderA_star.py

Output