GOLF CART TESTING
Testing Lane Keeping, Behavior, Mission, Parking spot detection, motion planner & control for Perpendicular/Parallel Parking.
HYBRID STATE ASTAR PATH PLANNER
A* search algorithm applied to the 3D kinematic state space of the vehicle (X, Y, Theta)
Uses a heuristic-based search in continuous coordinates that guarantees kinematic feasible paths
The smoothness of path ensured through cost penalties and using 5 forward and 5 reverse actions
Advanced collision detection using car configuration - obstacle intersection, optimized by using KD tree
Real-time replanner based on a change in vehicle position and the same goal