A turn-radius constrained lattice graph-based ARA* planner using ROS and SBPL to prevent the guide robot from rotating in place when near a person with a visual impairment for increased safety

Restricts the robot’s movement to 16 angles each with 16 motion primitives and prohibit the robot from turning in place

Construct custom global planner : ARA* algorithm on implicit graph to quickly search for a path to the goal while we have time without using too much memory