Unity Mobile Robot Path Planning Simulator

Path finding algorithm based on A-Star algorithm. Obstacle map is created based on GameObject boundary's in Unity. Obstacle map is padded with safezone (transparent red area).
A-star algorithm provide a solution with square-grid. Light blue line is the result of eliminating the polyline control points with collision free movement. Composite cubic bezier (blue line) is generated based on the smoothen path.
Basic robot control follow the rasterized bezier curve. Maximum linear & rotation acceleration is implemented. Robot alternates between 2 controls strategy:
1. Maximum acceleration and deceleration between control points
2. Maximum rotational acceleration and deceleration to adjust the heading to match the next control point pair
github.com/tan...