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mrpt_path_planning

  • Software
  • Navigation and mapping
  • Library

A kinematically feasible path planner for robots and vehicles on planar environments, handling arbitrary footprints and differential-drive, Ackermann and holonomic kinematics, built on MRPT.

Made by MRPT, Spain (checked on github.com/MRPT (opens in a new tab)).

Source on GitHub: github.com/MRPT/mrpt_path_planning (opens in a new tab). Facts read at commit 60ad6ee (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 60ad6ee (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Plans paths as sequences of motion primitives from parameterized trajectory generators, so every path respects the vehicle's turning and speed limits.
  • Supports circular or arbitrary polygonal footprints, including concave ones, checked against raw obstacle points without costmap inflation.
  • Provides a deterministic SE(2) lattice A* planner and a bidirectional variant, optimizing position and heading cost.
  • Accepts pose goals [x y phi] or position-only goals [x y], with forward and reverse maneuvers and an optional Reeds-Shepp heuristic.
  • Includes pluggable cost layers such as obstacle-proximity maps, preferred waypoints and a reverse-driving penalty.
  • Offers navigation building blocks: a pure-pursuit trajectory follower and a collision guard that velocity-filters commands.

Written by Robotheca from the project's README (opens in a new tab) at commit 60ad6ee.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
16 Oct 2026 on develop
Latest release
None published on GitHub

Checked on GitHub on 16 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.