Accelerated hybrid astar search path planning , called by SAS(space_adaptive_search)
This package is an implementation of the SAS space exploration method explained by speed up search by defining effective zone and scalable motion primitives for Nonholonomic Vehicles. This package includes two main parts, the SAS space exploration algorithm library and the ros node examples(sas_explore_node).
/initialpose (geometry_msgs::PoseWithCovarianceStamped)/move_base_simple/goal(geometry_msgs::PoseStamped) /result_path(nav_msgs::Path)/grid_map(nav_msgs::OccupancyGrid)obstacle.png