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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
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"You're a gentleman," they used to say to him. "You shouldn't have gone murdering people with a hatchet; that's no occupation for a gentleman."
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Teams that take care of the little things often have much less trouble with the big things! - dtengineering [more] 
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