Path Planning for Mobile Robot using Dubins-curve based RRT Algorithm with Differential Constraints

摘要

This paper treats a path planning problem for the mobile robot with differential constraints using modified RRT (Rapidly exploring random tree) algorithm based on Dubin's curves. In this paper, the planning problem is considered as a problem of finding a feasible path between the initial and goal point in a static environment with obstacles. Modifications on basic RRT algorithm are necessary due to differential constraints of non-holonomic car-like robot. Dubin's vehicle is selected as robot model, which represents special case of Simple car that moves only forward with constant velocity and can only make left and right turns. Algorithm is implemented in ROS (Robot Operating System) and tested through realistic simulations in 2D environment consisted of free space and obstacles. The simulation setup was conducted using a 2D Stage simulator in ROS and RViz tool for visualization. Pioneer 3AT robot model was used as Dubin's car for simulation purposes.