Revision history [back]

Hi!

Just to add an option to what already has been said. An implementation of the Lazy Theta * can be found at path_planning/lazy_theta_star. The package extends this to 3D with octomap as world representation.

This is built and tested for holonomic vehicles but if you modify the way neighbors are generated and line of sight checks taking into account kinematics it might just work.
This would be at ltStar_lib.cpp:
- generate neighbors at line 743 that refers to neighbors.cpp line 18. There it is essentially up, down, left, right (it is over a sparse occupancy grid - octomap)
- line of sight checks at line 310 currently look for obstacles inside a given geofence but you can also check whatever you like. This is basically where the A* checks "can I go here"

If you find a good approach please report back!