Some time ago I tried to use rt-rrt[1]. It should be quite suited for your setup, or at least more than A* i think. Actually when I get back to your project I w

Some time ago I tried to use rt-rrt[1]. It should be quite suited for your setup, or at least more than A* i think. Actually when I get back to your project I will try to implement it inside your framework. [1] https://github.com/ptsneves/rt-rrt https://github.com/ptsneves/rt-rrt