I'm employing the Smac Hybrid-A* Planner along with the Model Predictive Path Integral Controller for point-to-point navigation of an wheel-loader/LHD vehicle. The challenge is that there's a central pivot point, disrupting a consistent footprint. Therefore, during a three-point turn, the footprint doesn't maintain a parallel or rectangular shape, as shown in the figure below.
Given that this vehicle will navigate within a confined space and weighs 25 tons, it's essential to have an accurate footprint.
Any advice or guidelines on navigating this challenge would be greatly appreciated.