Trajectory planner cdt-rrt* For car-like mobile robots toward narrow and cluttered environments

Hyunki Kwon, Donggeun Cha, Jihoon Seong, Jinwon Lee, Woojin Chung

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


In order to achieve the safe and efficient navigation of mobile robots, it is essential to consider both the environmental geometry and kinodynamic constraints of robots. We propose a trajectory planner for car-like robots on the basis of the Dual-Tree RRT (DT-RRT). DT-RRT utilizes two tree structures in order to generate fast-growing trajectories under the kinodynamic constraints of robots. A local trajectory generator has been newly designed for car-like robots. The proposed scheme of searching a parent node enables the efficient generation of safe trajectories in cluttered environments. The presented simulation results clearly show the usefulness and the advantage of the proposed trajectory planner in various environments.

Original languageEnglish
Article number4828
Issue number14
Publication statusPublished - 2021 Jul 2

Bibliographical note

Funding Information:
Funding: This work was supported in part by the NRF, MSIP(NRF-2021R1A2C2007908), the Industry Core Technology Development Project (20005062) by MOTIE, and was also supported by the Agriculture, Food and Rural Affairs Research Center Support Program (714002-07) by MAFRA.

Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.


  • Laser scanner
  • Mobile robot
  • Motion control
  • Path planning
  • Trajectory generation
  • Wheel odometry

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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