Hybrid A* Path Planner (path_planner)
- Software
- Navigation and mapping
- Library
A Hybrid A* path planner for nonholonomic autonomous vehicles, written in C++ with ROS, developed for the KTH Research Concept Vehicle.
Source on GitHub: github.com/karlkurzer/path_planner (opens in a new tab). Facts read at commit ddf1a3a (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE.txt (opens in a new tab) (BSD-3-Clause) at commit ddf1a3a (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Samples continuous space with 72 headings per cell, a 5 degree discretization.
- Uses a constrained heuristic that ignores obstacles and an unconstrained heuristic that is holonomic with obstacles.
- Applies Dubin's shot to connect paths.
- Reads a binary obstacle map generated from LIDAR mounted on the vehicle.
- Runs in real time at about 10 Hz.
- Can be visualized in RViz to inspect the search and the planned path.
Written by Robotheca from the project's README (opens in a new tab) at commit ddf1a3a.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 29 Mar 2026 on master
- Latest release
- None published on GitHub
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.