Curvature-Continuous RRT-Based Path Planning with Enhanced Efficiency

摘要

The trajectory composed of straight segments and sharp turns generated by the existing global path planning algorithm does not consider the kinematic and dynamic characteristics of mobile robots. For mobile robots with different characteristics, it is necessary to propose a method to meet its constraints. For mobile robots, when its trajectory is a path with continuous curvature, the difficulty of control will be greatly reduced. Therefore, this paper proposes an improved RRT algorithm named Curvature-Continuous RRT-based (CC-RRT) path planning algorithm using clothoid curve for local smoothing. This method can transform the path generated by RRT algorithm into a curvature continuous path, which is helpful to improve the operating efficiency, operating stability and service life of mobile robot. Finally, Matlab is used for analysis, and the results verify the effectiveness of this algorithm.