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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...

Ausführliche Beschreibung

Gespeichert in:
Hauptverfasser: Kemeng Ran, Yujun Wang, Can Fang, Qisen Chai, Xingxiang Dong, Guohui Liu
Format: Artigo
Sprache:Inglês
Veröffentlicht: MDPI AG 2024-12-01
Schriftenreihe:Sensors
Schlagworte:
path planning
RRT*
Clothoid curve
obstacle avoidance
Online-Zugang:https://www.mdpi.com/1424-8220/24/23/7812
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