Gridwalk

Desktop mission planner for Autonomous Mobile Robots (AMRs). Loads lidar/SLAM-generated maps, lets you place waypoints interactively, and computes smooth any-angle paths using Theta*. Built for factory floor navigation.

Features

• Theta path planning*: Any-angle pathfinding — shorter, smoother paths than grid-locked A*
• Lidar map processing: Otsu thresholding + morphological cleanup on noisy JPEG inputs
• Factory interior detection: Flood-fill exterior masking keeps paths inside walls
• Bezier smoothing: Corner smoothing with edge classification (Straight / Bezier / Pivot)
• Robot simulation: Animate the planned mission with configurable speed
• DXF import: Convert AutoCAD floor plans to raster maps
• Metric export: Path coordinates in both pixel and real-world units

Tech Stack

• Python: 3.8+
• GUI: Tkinter
• Image processing: OpenCV, Pillow
• Path planning: Custom Theta* implementation
• CAD import: ezdxf

Architecture

amr_planner/
├── config.py               # Pipeline config and state
├── models.py               # Position, Pose, Location, Edge
├── enums.py                # Pipeline stages, edge types
├── converters/
│   ├── dxf_converter.py    # DXF -> raster
│   └── image_cleaner.py    # JPEG noise removal, Otsu threshold
├── planning/
│   ├── path_planner.py     # Theta*, occupancy grid, safety inflation
│   └── waypoint_manager.py
├── simulation/
│   └── simulator.py        # Robot animation
└── ui/
    ├── gui.py              # Main Tkinter app
    └── waypoint_placer.py  # Interactive waypoint placement

Image Processing Pipeline

Raw Lidar JPEG -> Gaussian Blur -> Otsu Threshold -> Morphological Cleanup -> Exterior Masking -> Binary Occupancy Grid

Setup

git clone https://github.com/shrirag10/Gridwalk.git
cd Gridwalk
pip install -r requirements.txt
python3 main.py

Usage

1. File -> Open Image — load a lidar map (.jpg, .png) or DXF floor plan
2. Click on the map to place waypoints
3. Plan Mission — runs Theta* and renders the smoothed path
4. Simulate — animates the robot traversing the route

Requirements

numpy>=1.21.0
opencv-python>=4.5.0
matplotlib>=3.4.0
Pillow>=8.3.0
ezdxf>=0.17.0

License

MIT