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...