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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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Autori principali: Kemeng Ran, Yujun Wang, Can Fang, Qisen Chai, Xingxiang Dong, Guohui Liu
Natura: Artigo
Lingua:Inglês
Pubblicazione: MDPI AG 2024-12-01
Serie:Sensors
Soggetti:
path planning
RRT*
Clothoid curve
obstacle avoidance
Accesso online:https://www.mdpi.com/1424-8220/24/23/7812
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