hybrid_astar_path_planner

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hybrid_astar_path_planner

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Hybrid A* Path Planner For Ackermann Vehicles

hybrid_astar_path_planner 최신버젼 다운로드

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// repository documentation

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# 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")

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