Mobile robot path planning- Valid or feasible path

Am trying to build a genetic algorithm to find the shortest path. findpath() use A* which is build in.

My question is: Is there a function or method to examine new generated path that is valid or not?

Answer 1

[Ajay Pattassery]

You can use statevalidator to validate whether a state is valid or not. Also the path generated between states can also be validated.

validatorOccupancyMap is a state validator based on 2-D grid map. This might be helpful for your case of validating A* path(Assuming 2D scenario).

You can also create your own validator using createPlanningTemplate.