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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出版年:	Sensors
主要な著者:	Kemeng Ran, Yujun Wang, Can Fang, Qisen Chai, Xingxiang Dong, Guohui Liu
フォーマット:	論文
言語:	英語
出版事項:	MDPI AG 2024-12-01
主題:	path planning RRT* Clothoid curve obstacle avoidance
オンライン･アクセス:	https://www.mdpi.com/1424-8220/24/23/7812