Robo-Parking Motion Planner

The planner uses a hybrid A* search algorithm that explores continuous vehicle poses while using a discretized grid to track visited states to improve search efficiency. The cost function combined path length with a Euclidean distance heuristic to guide the search.

To allow for more precise parking in tight spots without making the planning algorithm last forever to run, as the vehicle gets closer to the parking spot, the planner switches to finer motion primitives enabling alignment where the whole car fits inside of the parking spot.