# karlkurzer/path_planner

Hybrid A* Path Planner for the KTH Research Concept Vehicle

Repository: https://github.com/karlkurzer/path_planner
Canonical: https://ross.abutalabs.com/products/path_planner
Homepage: http://karlkurzer.github.io/path_planner/
Language: C++
License: BSD-3-Clause
License Family: permissive
Topics: motion-planning, planning-algorithms, robotics
Last push: 2026-03-30T01:34:37+00:00

## Health v2 (maintenance only)
Score: 66/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 74, release rhythm 35, longevity 100
- inputs: {"age_days": 3915, "days_push": 157, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1911, forks 571 (observed 2026-08-28T04:05:53.245782+00:00)

## What it is
A C++ implementation of the Hybrid A* path planning algorithm for nonholonomic autonomous vehicles, developed for the KTH Research Concept Vehicle. It combines continuous-space A* search with discretized headings, dual heuristics, and Dubin's shots to generate smooth, real-time (~10 Hz) paths from LIDAR-generated obstacle maps.

## Use cases
- plan paths for a nonholonomic autonomous vehicle around obstacles
- implement hybrid A* motion planning in C++ with ROS
- generate smooth drivable paths for parking and maze navigation
- study hybrid A* with constrained and unconstrained heuristics
- compute Dubin's shot paths for car-like vehicles
- visualize path planning search in RViz

## When to choose
- you need real-time path planning for a car-like, nonholonomic vehicle
- you work in a ROS environment and want a reference hybrid A* implementation
- you want a well-documented, thesis-backed implementation of Dolgov/Thrun's hybrid A*
- your input is a binary obstacle map from LIDAR or similar sensors

## When to avoid
- you need planning for holonomic robots or drones
- you want a maintained production library with active support
- you need dynamic obstacle avoidance or multi-vehicle coordination
- you don't use ROS or C++ in your stack

## Facets
- artifact type: library
- maturity: maintenance
- function: simulation, robotics
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: hybrid-a-star, motion-planning, path-planning, nonholonomic, dubins-path, ros, autonomous-driving, algorithm, algorithms, linux

## Member repositories
- karlkurzer/path_planner (main) score 66

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:53.245782+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:10:47.416655+00:00, confidence not recorded.
  - readme: https://github.com/karlkurzer/path_planner (fetched 2026-08-28T04:05:53.245782+00:00, sha f7e0ba8d0a1b)
  - homepage: http://karlkurzer.github.io/path_planner/ (fetched 2026-08-29T10:49:55.430194+00:00, sha 9c93d1050952)
- Data as of 2026-08-30T08:39:29.467469+00:00.