Trajectory planning for mobile robot with kinodynamic constraints
Hyunki Kwon, Seongyong Park, Chang-bae Moon, Woojin Chung · 2017
In this research, we present a new algorithm for trajectory generation of two-wheeled mobile robots. The proposed methods is based on Rapidly exploring Random Tree (RRT) method and expands its structure with two different tree structure. By using dual tree, the proposed scheme can generate feasible path with low cost.