I believe this is a matter of keeping track of the node with the lowest "estimated cost" during the _solve function of AStar and returning a path to that node if it doesn't find a path to the goal.

The current implementation of the offset path function exhibits undesired behavior near corners, where points that are close together result in an offset that may not align with user expectations.

The paper introduces a quadratic programming algorithm for real-time local path planning of autonomous vehicles. The algorithm relies on discretized sampling points and an enhanced cost function.

A diverse path set generation method to solve the two-point boundary value problem is first proposed here. The diverse path set planning algorithm (DPSP) generates the probabilistic roadmap and ...