hybrid_astar_planner

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Description

• this repo is implementation of hybrid-atar-planner for reeds-shepp car, it support to plan drivable path for carlike robot, and take the obstacle avoidance into account.

Depends

• ompl, for computing reeds-shepp path
• opencv, use it to store map data and visulization
• glog, use it to logging debug info
• you can easily remove dependancy from both opencv and glog

Usage

• mkdir build && cd build && cmake .. && make
• set parameter in map/param.cfg map/map_info.cfg map/car_info.cfg
• ./hybrid_astar_planner ../map/param.cfg

examples

Difference with original hybrid-astar-planner

• use direct 2d heuristic instead of holonomic--with-obstacle heuristic, I found it faster to do so.
• enable analytic expantion all the time not only near the destination.
• both of above can be modified easily.

Todo

• make it escape dead end faster