adding dijkstra motion planner

working lazy dijkstra

working dijkstra planner

adding gif for dijkstra

using heap instead of search min

Update README.md

Author: SalahEddineGhamri

Cargo.toml

@@ -11,3 +11,6 @@ nalgebra = "0.32.4"
 plotlib = "0.5.1"
 rand = "0.8.5"
 rand_distr = "0.4.3"
+itertools = "0.12.1"
+gnuplot = "0.0.42"
+ordered-float = "4.2.0"

README.md

@@ -27,7 +27,7 @@ cargo run --bin ekf
       * [Cubic Spline](#cubic-spline)
       * [Dynamic Window Approach](#dynamic-window-approach)
       * [Model Predictive Trajectory Generator](#model-predictive-trajectory-generator)
-      * Dijkstra algorithm
+      * [Dijkstra algorithm](#dijkstra-algorithm)
       * Potential Field algorithm
       * State Lattice Planner
       * Rapidly-Exploring Random Trees (RRT)
@@ -112,6 +112,11 @@ cargo run --bin model_predictive_trajectory_generator
 ```
 
 ## Dijkstra algorithm
+
+<img src="./media/dijkstra-motion-planner.gif" width="640px">
+
+- [src](./src/bin/dijkstra.rs)
+
 ## Potential Field algorithm
 ## State Lattice Planner
 ## Rapidly-Exploring Random Trees