Kinodynamic Path Planning

This path planning consider the robot's current state as well as kinodynamic constraints of the robot to select the path to the goal.

• Inspired by Fast-Planner
• It modifies the heusteric in A* Algorithm to give a cost to the kinodynamic change in the robot from current state to next state.
• An OpenCV based visualization is also available

Output (Simulated in OpenCV)

Motion Planning Framework for Team ARES