Meta-heuristic approach towards robot-assisted path generation in wilderness search and rescue domain (WiSAR).

python path_plan.py -f <location of input file>

eg. python path_plan.py -f heatmap_1.txt

• Program generates two files in the same folder, named:
  1. <input file name>_complete_coverage.txt
  2. <input file name>_most_efficient.txt

• To check for complete coverage, please check against file 1.

• The folder 'outputs' contains the respective output files for heatmap_1 and heatmap_2

• The folder 'animations' contains the path animations for each heatmap. Maybe you can use them to verify that high-probability nodes are visted first.

PS:

1. Program and output were generated on a Unix machine and might not display properly on Windows. Please use an editor that can parse the files properly, like notepad++.
2. Program assumes that 'numpy' and 'matplotlib' are already installed.