Hybrid A Star Algorithm for Car Trailer System
Path optimization is not included and will be added further.
Similar path planning algorithms for a car pulling trailer are discussed by Habrador and Atsushi Sakai
The difference is that hitch point can be set not only at the midpoint of rear axle but also at the rear point of car body, more general for a car pulling a trailer.
Perpendicular Parking
Parallel Parking
Code
- Trailer Assist System - Path Planning
Ref
- Practical Search Techniques in Path Planning for Autonomous Driving
- Application of Hybrid A* to an Autonomous Mobile Robot for Path Planning in Unstructured Outdoor Environments
License
MIT