### 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](https://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf).
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
* [Tejus Gupta](https://github.com/tejus-gupta)
* [Rahul Kranti Kiran](https://github.com/KrantiKIran)
##### Images
<img src="https://imgur.com/wDC3stV.png" alt="Example1" width="400"/> <img src="https://imgur.com/GZH6w0V.png" alt="Example2" width="400"/>
##### Resources
* [Practical Search Techniques in Path Planning for Autonomous Driving](https://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf)
* [Demo Video](https://www.youtube.com/watch?time_continue=2&v=qXZt-B7iUyw)
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ROS实现人工势场法结合A算法-路径规划算法.zip
共17个文件
cpp:6个
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该存储库包含使用Hybrid-a*算法的非完整车辆实时路径规划器的代码。本文介绍了混合A*算法——自动驾驶路径规划中的实用搜索技术。 该代码是研究小组的一个项目的结果。我们已经在实验室的测试车Eklavya上测试了这个代码。我们使用GPS路线点作为目标,并使用安装在车辆前部的激光雷达生成二进制障碍物地图。我们使用ROS进行传感器接口。
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ROS实现人工势场法结合A算法_路径规划算法.zip (17个子文件)
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include
Gui.hpp 325B
Map.hpp 475B
Compare.hpp 420B
Planner.hpp 240B
Utils.hpp 529B
State.hpp 527B
Makefile 317B
src
State.cpp 1KB
Planner.cpp 3KB
Gui.cpp 1KB
Compare.cpp 8KB
Map.cpp 4KB
test.cpp 415B
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map2.png 1KB
map3.png 1KB
map.png 2KB
README.md 2KB
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