Smooth-RRT*: Asymptotically Optimal Motion Planning for Mobile Robots under Kinodynamic Constraints
Yiting Kang,Zhi Yang,Riya Zeng,Qi Wu,Yiting Kang,Zhi Yang,Riya Zeng,Qi Wu
Nowadays, various algorithms based on the Rapidly-exploring Random Tree (RRT) methods are utilized to solve motion planning problems. Based on the RRT*, we developed a novel reconnection method that enables the planner to directly generate a smooth curved trajectory. Meanwhile, kinodynamic constraints of the robots are considered to generate the control input, which improves the feasibility of the...
