Improved Analytic Expansions in Hybrid A-Star Path Planning for Non-Holonomic Robots

In this study, we concisely investigate two phases in the hybrid A-star algorithm for non-holonomic robots: the forward search phase and analytic expansion phase. The forward search phase considers the kinematics of the robot model in order to plan continuous motion of the robot in discrete grid map...

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Библиографические подробности

Главные авторы:	Chien Van Dang, Heungju Ahn, Doo Seok Lee, Sang C. Lee
Формат:	Artigo
Язык:	Inglês
Опубликовано:	MDPI AG 2022-06-01
Серии:	Applied Sciences
Предметы:	Reeds-Shepp curves hybrid A-star non-holonomic mobile robot indoor robot applications
Online-ссылка:	https://www.mdpi.com/2076-3417/12/12/5999
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