RRT* Based Local Planner for Autonomous Vehicles with Dynamic Obstacle Avoidance Capabilities

Implemented an RRT*-based local planner designed to generate smooth trajectories that minimize acceleration, adhering to the non-holonomic constraints of the Ackerman steering model.

Enhanced RRT* algorithm integration with velocity obstacle methods to effectively navigate dynamic obstacles.

Conducted comprehensive testing across various scenarios including crossroad, head-on, and overtaking maneuvers to validate collision avoidance effectiveness.