Clearance Based Path Finding
 

For my lab, I had to implement a clearance based path finding algorithm for the robot I am working with to autonomously navigate and map (using SLAM) a series of hallways with obstacles in the hallway.The next step is to ramp it up to outside navigation, then indoor quad-copter navigation and mapping, then outside quad copter navigation and mapping.

I hope you guys find this useful.

Code:

https://github.com/faust1706/Clearance-Based-A-Star