https://github.com/cihataltiparmak/hybrid_astar_path_planner

Hybrid A* Path Planner For Ackermann Vehicles
https://github.com/cihataltiparmak/hybrid_astar_path_planner

hybrid-astar motion-planning path-planner path-smoothing robotics ros2

Last synced: about 1 month ago
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Hybrid A* Path Planner For Ackermann Vehicles

• Host: GitHub
• URL: https://github.com/cihataltiparmak/hybrid_astar_path_planner
• Owner: CihatAltiparmak
• License: mit
• Created: 2023-07-16T00:21:04.000Z (over 1 year ago)
• Default Branch: 4-optimization-for-path-smoothing
• Last Pushed: 2024-04-09T01:13:35.000Z (9 months ago)
• Last Synced: 2024-04-09T02:28:59.289Z (9 months ago)
• Topics: hybrid-astar, motion-planning, path-planner, path-smoothing, robotics, ros2
• Language: C++
• Homepage:
• Size: 102 KB
• Stars: 2
• Watchers: 2
• Forks: 1
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# hybrid_astar_path_planner

Hybrid A* Path Planner For Ackermann Vehicles

## How to run

```

git clone https://github.com/CihatAltiparmak/hybrid_astar_path_planner.git

cd hybrid_astar_path_planner

docker build . -t hybrid_astar_planner

xhost +

docker run -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" --net=host --privileged --runtime=nvidia hybrid_astar bash src/hybrid_astar_path_planner/run_planner_demo.sh

```

# TODO

- Planner has not been tuned. It is necessary to tune parameters for planner. The cause of executing slowly maybe can be given rise to map size, cell size etc.

- Change map tool from grid_map to costmap

- Change specific message format of planner to nav_msgs/Path

- Modify planner rviz plugin based on given message format (for above statement)  

[![Demo of Hybrid Astar Algorithm ](https://img.youtube.com/vi/YAmgPpLh0Yg/maxresdefault.jpg)](https://youtu.be/YAmgPpLh0Yg?si=zlVo-Gt98pNadKEo "Video Title")