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, Greece, 28 June - 01 July 2022, pp.426-431, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/med54222.2022.9837136
  • City: Athens
  • Country: Greece
  • Page Numbers: pp.426-431
  • Middle East Technical University Affiliated: No

Abstract

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.