Towards an Online RRT-based Path Planning Algorithm for Ackermann-steering Vehicles
Jie Peng,Yu’An Chen,Yifan Duan,Yu Zhang,Jianmin Ji,Yanyong Zhang,Jie Peng,Yu’An Chen,Yifan Duan,Yu Zhang,Jianmin Ji,Yanyong Zhang
It is challenging to develop an online path planning algorithm for Ackermann-steering vehicles to find collision-free and kinematically-feasible paths, that is efficient for dense environments, adaptable to various environments, and suitable for environments with narrow passages. In this paper, we propose a kinematically constrained RRT-based path planning algorithm integrating with a trajectory p...
