I'm employing the Smac Hybrid-A* Planner along with the Model Predictive Path Integral Controller for point-to-point navigation of a forklift, both indoors and outdoors. Notably, this forklift features a differential drive mechanism with two front wheels and an independently rotating rear wheel, mirroring a tricycle's kinematics. Additionally, I've opted for the "reeds shepp" method, addressing scenarios where in-place rotations aren't feasible.
Can I develop a custom motion model compatible with both the smac-planner and mppi-controller?
Any advice or guidelines on navigating these challenges would be greatly appreciated.