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Author: Eric Chen

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+# 🚀 Dynamic Window Approach (DWA) Path Planning Simulation
+
+A fully visualized implementation of the **Dynamic Window Approach (DWA)** in Python using Pygame. Simulate and visualize obstacle avoidance and goal-reaching for mobile robots in 2D space — perfect for robotics beginners, path planning researchers, and AI robotics students!
+
+---
+
+## 🧠 What is DWA?
+
+Dynamic Window Approach is a real-time collision avoidance algorithm for mobile robots. It evaluates a set of feasible trajectories based on the robot's dynamic constraints, obstacle proximity, and goal direction.
+
+This project:
+
+- Predicts multiple future trajectories
+- Scores each based on distance to goal, speed, and safety
+- Selects the best trajectory and visualizes it
+- Runs smoothly in a Pygame window with live user interaction!
+
+---
+
+## 🖼️ Features
+
+- 📍 Real-time path planning to a user-defined goal
+- ⚠️ Dynamic obstacle addition with right-click
+- 🧭 Visualized prediction trajectories
+- 🚗 Simulated robot with circular collision model
+- 🧪 Easy to tweak robot config for experiments
+
+---
+
+## 🕹️ Demo
+
+### Controls:
+
+- **Left-click** to set a new goal
+- **Right-click** to add a new obstacle
+- Window will auto-close once robot reaches goal
+
+![demo](https://github.com/yourusername/dwa-python/assets/demo.gif)
+
+---
+
+## 🛠️ Requirements
+
+- Python 3.7+
+- Pygame
+- NumPy
+
+```bash
+pip install pygame numpy
+```
+
+## 📦 Run the Simulation
+
+```bash
+
+python DWA.py
+
+```
+
+## Customize Parameters
+
+Easily adjust robot dynamics and cost weights in the Config class:
+
+```bash
+
+self.max_speed = 1.0
+self.max_accel = 0.2
+self.to_goal_cost_gain = 0.1
+self.obstacle_cost_gain = 0.5
+...
+
+```
+
+## 🤖 Why Use This?
+
+- ✅ Learn path planning through visualization
+- ✅ Great teaching material for robotics classes
+- ✅ Easy to hack and extend (e.g., LIDAR input, map loading)
+- ✅ No ROS or external frameworks required
+
+## 🌟 Star this repo
+
+If you found this useful or interesting, give it a ⭐ to support more open robotics projects!