Path Planning Based on Heuristic Rapidly-Exploring Random Tree for Nonholonomic Mobile Robot
Liang Kang, Lian Cheng Mao · Applied Mechanics and Materials · 2014
The RRT algorithm and the heuristic function are combined in the mobile robot path planning, so a novel path planning is proposed. Based on the dynamic model and kinematic constraints of the nonholonomic mobile robot, a trajectory tracking controller is designed. Theory and calculation results prove that, as a new method for mobile robot path planning, the heuristic Rapidly-Exploring Random Tree for nonholonomic mobile robot path planning is feasible and effective.