Need help with hybrid-astar-planner?
Click the “chat” button below for chat support from the developer who created it, or find similar developers for support.

About the developer

tejus-gupta
176 Stars 77 Forks 12 Commits 4 Opened issues

Description

Hybrid A* Path Planner

Services available

!
?

Need anything else?

Contributors list

# 289,417
graph-t...
The Jul...
TeX
graph-g...
12 commits

Hybrid A* Path Planner

This repository contains the code for a real-time path planner for non-holonomic vehicles using Hybrid-A* algorithm. The Hybrid-A* algorithm is described here - Practical Search Techniques in Path Planning for Autonomous Driving.

This code is the result of a project at the Autonomous Ground Vehicle (AGV) research group at Indian Institute of Technology Kharagpur. We have have tested this code on Eklavya, our lab's test vehicle. We used GPS waypoints as target and the binary obstacle map was generated using LIDAR mounted in the front of the vehicle. We used ROS for sensor interfacing.

Algorithm Description
  • A 3D discrete search space is used but unlike traditional A, hybrid-A associates with each grid cell a continuous 3D state of the vehicle. The resulting path is guaranteed to be drivable (standard A* can only produce piece-wise linear paths).
  • The search algorithm is guided by two heuristics -
    • 'non-holonomic-without-obstacles' uses Dubin's path length ignoring obstacles
    • 'holonomic-with-obstacles' uses shortest path in 2D computed using dijkstra ignoring holonomic constraints of vehicle
  • To improve search speed, the algorithm analytically expands nodes closer to goal using dubins path and checks it for collision with current obstacle map.
Current Maintainers
Images

Example1 Example2

Resources

We use cookies. If you continue to browse the site, you agree to the use of cookies. For more information on our use of cookies please see our Privacy Policy.