Feature-Request: Path-Planner should take into account the minimum turning radius and the ability to drive backward.

[AndyPermaRobotics]

I noticed, that the Path-Planner does not take into account the minimum turning radius of the robot and the ability of the robot to drive backward.
Both can be defined for the Driver, but not for the PathPlanner.
So the PathPlanner will calculate a path that avoids obstacles, but the driver may drive a different path.

Currently I have another use case, that underlines the limitations of the PathPlanner:
I want my robot to drive swaths and at the end of one swath it should drive to the beginning of another swath. This means, that the bot has to rotate by 180° and perform a small transition in y direction.

In this case the planned path has a very small radius:

and this is the path that the bot drives:

My interim solution is to add a stopover point:

this mitigates the problem, but still the PathPlanner does not take into account the minimum turning radius and I couldn't figure out how to create a stopover point that leads to a path with a nearly constant curvature.

I tried to create my dream path with Miro and it looks like this:

as you can see, I added 3 control points. I don't know, if this is possible with single spline.

It would be very nice, if you could add this functionality to the PathPlanner!

Best regards
Andreas