Spline-based RRT path planner for non-holonomic robots

Kwangjin Yang, Sangwoo Moon, Seunghoon Yoo, Jaehyeon Kang, Nakju Lett Doh, Hong Bong Kim, Sanghyun Joo

Research output: Contribution to journalArticlepeer-review

86 Citations (Scopus)


Planning in a cluttered environment under differential constraints is a difficult problem because the planner must satisfy the external constraints that arise from obstacles in the environment and the internal constraints due to the kinematic/dynamic limitations of the robot. This paper proposes a novel Spline-based Rapidlyexploring Random Tree (SRRT) algorithm which treats both the external and internal constraints simultaneously and efficiently. The computationally expensive numerical integration of the system dynamics is replaced by an efficient spline curve parameterization. In addition, the SRRT guarantees continuity of curvature along the path satisfying any upper-bounded curvature constraints. This paper presents the underlying theory to the SRRT algorithm and presents simulation and experiment results of a mobile robot efficiently navigating through cluttered environments.

Original languageEnglish
Pages (from-to)763-782
Number of pages20
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1-4
Publication statusPublished - 2014 Jan

Bibliographical note

Funding Information:
This work was supported in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (No. 2012R1A1A4A01005563).


  • Differential constraints
  • Mobile robot
  • Rapidly-exploring random tree
  • Spline curve parameterization

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering


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