Heurisitc for turning more than 90 Degree

CommonRoad-Search
1

Hi,

I realized that my motion planner is having difficulties finding ways to turn more than 90 Degree and I can’t find a good heuristic function for this kind of situation.
I’m not sure if it’s a problem with the primitive that I use or rather the heuristic function. Can anyone give me a hint on how to overcome this?!

Many thanks!

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2

Hi, these scenarios should in theory be solvable as other scenarios. Maybe you can try on a denser set of primitives?