[RyanCahoon]

Originally Posted by StevenB

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I haven't done much reading on it, but I think the literature on non-holonomic motion planning covers this kind of thing.

Originally Posted by StevenB

To actually get smoother paths, you have to do something to further discretize your space.

You can also do path refinement, where you run A* on a coarse grid, and then detect points where the robot would make sharp turns and re-run A* on a small portion of the map around that turn with the configuration space further subdivided. Repeat this process until some upper limit on turn sharpness or configuration space subdivision is reached.