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Add Hybrid A* Star Path Planner - #33
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This README provides an overview of the Hybrid A* Path Planner, including highlights, code explanations, tuning parameters, references, and simulations.
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@shreyshet Thank you so much for the PR! This looks great. I'm a bit tied up right now, but I'll review it in detail and get back to you soon. Please bear with me for a bit! And then, your changes looks like has conflict. So please resolve it before I start reviewing. |
This README provides an overview of the Hybrid A* Path Planner, detailing its features, code explanation, tuning parameters, references, and simulations.
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Hi @ShisatoYano, |
ShisatoYano
self-requested a review
January 12, 2026 06:48
ShisatoYano
approved these changes
Jan 12, 2026
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@shreyshet I confirmed that the conflict was resolved and all unit tests passed, so I merged your PR into main branch. Thanks you for your great contribution!! |
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This PR presents a Hybrid A* implementation. The new planner enables path generation for non-holonomic vehicles (like cars) by incorporating a minimum turning radius and continuous state-space exploration.
Run standalone Hybrid A* simulation
python src/simulations/path_planning/astar_hybrid_path_planning/astar_hybrid_path_planning.py
Run tests
python -m pytest test/test_astar_hybrid_path_planning.py -v