Solve pathfinding problem for truck and trailer positions

[mathprocessing]

The video shows that the position of the truck's trailer is not achieved perfectly.

Even more general: How to expand an agent's state?

• I think Astar can search not only possible kinematic states[position, velocity, rotation angle, angular velocity]

Perhaps before we ask this question, we can think about how to reduce the number of calculations.
Maybe cut some logical branches in early stage or combine those branches that can be treated as one.