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

Date

2022-01-01

Author

Spanogianopoulos, Sotirios
Sirlantzis, Konstantinos
Ahıska, Kenan

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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.

URI

https://hdl.handle.net/11511/117559

DOI

https://doi.org/10.1109/med54222.2022.9837136

Conference Name

30th Mediterranean Conference on Control and Automation (MED)

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

Citation Formats

S. Spanogianopoulos, K. Sirlantzis, and K. Ahıska, “RRT-based Path Planning for Car-Like Vehicles with Nonholonomic Constraints,” presented at the 30th Mediterranean Conference on Control and Automation (MED), Athens, Yunanistan, 2022, Accessed: 00, 2025. [Online]. Available: https://hdl.handle.net/11511/117559.