smac-planner-hybrid-a-star

To plan kinematically feasible Nav2 paths for Ackermann robots, configure a SMAC Hybrid-A* planner using SE(2) motion primitives like REEDS_SHEPP to generate executable trajectories.

Hybrid-A* path planning in ROS 2 extends A* into SE(2) with motion primitives to generate non-holonomic, kinematically feasible paths for navigating tight corridors, docking, and parking maneuvers.

Configure minimum turning radius constraints in Nav2 motion planning by tuning YAML parameters like minimum_turning_radius and motion_model_for_search within the SMAC Hybrid-A* planner to balance speed and trajectory quality.

SMAC Hybrid-A* handles differential drive robots in cluttered maps by using discretized headings and analytic expansion to satisfy non-holonomic constraints for safe, feasible trajectories.

Balance speed and path quality in non-holonomic motion planning by adjusting YAML-driven parameters such as angle_quantization_bins, analytic_expansion_ratio, and lookup_table_size within the SMAC Hybrid-A* planner.

Nav2 path planners ignore minimum turning radius constraints when not configured for non-holonomic planning; setting SMAC Hybrid-A* with proper motion_model_for_search and minimum_turning_radius parameters enforces feasible trajectories.