Search-based-Planning-for-Autonomous-Parking

This project implements Hybrid A* algorithm and Reeds Shepp curves to plan paths for autonomous Parking task

Instructions :

Env.py - contains class to build the map environment.

Valet.py - Script to run planner for all vehicles.

Hybrid_astar.py - Script containin the Hybrid A* planner

Hybrid_astar_trailer.py - Script containing the Hybrid A* planner with modifications for truck with trailer

reeds_shepp.py - Contains the Reeds-shepp curve generator

Vehicle_models.py - contains kinematic models of all vehicles

To run the Planner:

python Valet.py

Differential Drive :

diffdrive-2.mp4

Ackermann Car :

car-2.mp4

Truck with trailer :

truck_with_trailer-2.mp4