RRT-based Path Planning for Car-Like Vehicles with Nonholonomic Constraints

Spanogianopoulos S., Sirlantzis K., Ahiska K.

30th Mediterranean Conference on Control and Automation (MED), Athens, Yunanistan, 28 Haziran - 01 Temmuz 2022, ss.426-431, (Tam Metin Bildiri) identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/med54222.2022.9837136
  • Basıldığı Şehir: Athens
  • Basıldığı Ülke: Yunanistan
  • Sayfa Sayıları: ss.426-431
  • Orta Doğu Teknik Üniversitesi Adresli: Hayır

Özet

In this paper, for car-like mobile robots, a novel path planning algorithm is proposed. The algorithm is based on rapidly-exploring random trees (RRT) with fixed nodes (RRT*FN). An improvement on the RRT*FN is proposed to abide by the non-holonomic motion constraints and RRT*FN non-holonomic (RRT*FN-NH) is introduced. The new path planning algorithm handles the non-holonomic constraints as well as the constraints on the velocity and acceleration of the vehicle. The performance of the proposed algorithm RRT*FNNH is tested on two maps obtained from Google maps at three different speed profiles.