Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints

Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints

In this paper, we propose an algorithm based on the Rapidly-exploring Random Trees* (RRT*) algorithm for the path planning of mobile robots under kinematic constraints, aiming to generate efficient and smooth paths quickly. Compared to other algorithms, the main contributions of our proposed algorit...

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Bibliographic Details
Main Authors: Kemeng Ran, Yujun Wang, Can Fang, Qisen Chai, Xingxiang Dong, Guohui Liu
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Sensors
Subjects:
path planning
RRT*
Clothoid curve
obstacle avoidance
Online Access:https://www.mdpi.com/1424-8220/24/23/7812
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