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...