RajPShinde / Hybrid-A-Star

Hybrid A* Motion Planner for a Car using kinematic & Reeds-Shepp Model

Hybrid-A*

Motion Planner for a Car based of Kinematic & Reeds-Shepp Node expansions and a combination of Holonomic & Non-Holonomic Cost Function.

Dependencies

1. python3
2. CurvesGenerator

Results

Path & Footprint	Node Simulations & Animation

Path & Footprint	Node Simulations & Animation

Refrences

1. https://github.com/zhm-real/MotionPlanning
2. https://blog.habrador.com/2015/11/explaining-hybrid-star-pathfinding.html
3. https://github.com/karlkurzer/path_planner