Spline-Based RRT Path Planner for Non-Holonomic Robots

Authors:
Kwangjin Yang;Sangwoo Moon;Seunghoon Yoo;Jaehyeon Kang;Nakju Lett Doh;Hong Bong Kim;Sanghyun Joo
Affiliations:
Department of Aerospace and Mechanical Engineering, Korea Air Force Academy, Cheongwon, Republic of Korea;Department of Aerospace and Mechanical Engineering, Korea Air Force Academy, Cheongwon, Republic of Korea;Department of Electrical Engineering and Computer Science, Korea Air Force Academy, Cheongwon, Republic of Korea;School of Electrical Engineering, Korea University, Seoul, Republic of Korea;School of Electrical Engineering, Korea University, Seoul, Republic of Korea;Future Man Electronics, Daejon, Republic of Korea;Agency for Defense Development, Daejon, Republic of Korea
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

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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 Rapidly-exploring 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.