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

    93 Citations (Scopus)

    Abstract

    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
    Volume73
    Issue number1-4
    DOIs
    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).

    Keywords

    • 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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