https://github.com/heisenberg141/hybrid-a-star-for-car-parking

This repository contains my Implementation of hybrid A star for a vehicle with Ackerman steering to perform complex parking maneuvers in tight parking spaces
https://github.com/heisenberg141/hybrid-a-star-for-car-parking

ackerman-steering graph-search hybrid-a-star motion-planning path-planning planning robotics route-planning valet

Last synced: 3 days ago
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This repository contains my Implementation of hybrid A star for a vehicle with Ackerman steering to perform complex parking maneuvers in tight parking spaces

• Host: GitHub
• URL: https://github.com/heisenberg141/hybrid-a-star-for-car-parking
• Owner: heisenberg141
• Created: 2022-11-18T21:17:04.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2023-03-23T03:18:27.000Z (almost 2 years ago)
• Last Synced: 2024-01-28T02:08:56.536Z (about 1 year ago)
• Topics: ackerman-steering, graph-search, hybrid-a-star, motion-planning, path-planning, planning, robotics, route-planning, valet
• Language: Python
• Homepage:
• Size: 5.18 MB
• Stars: 8
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Valet-Parking

This repository contains my Implementation of hybrid A star for a vehicle with Ackerman steering to perform complex parking maneuvers in tight parking spaces.

## Instructions

1. Install all the required packages using requirements.txt (python version: 3.9.13)

2. run python valet_demo.py

## Results:

1. Hybrid A star search pattern:

![illustration1](media/searchPattern.png?raw=true "Search Pattern")

2. Demo Video

![illustration2](media/valet_better.gif?raw=true "Demo Video")