Path Planning with Steering Sets for Car-Like Robots and Finding an Effective Set

Abstract

This paper describes a new path planning method for car-like robots using predesigned steering sets including three trajectory types: straight, right and left. A trajectory using a zigzagged path planned by grid-based shortest path search (A* method or Dijkstra) is not suitable for car-like robots. Path planning with steering sets is used to generate trajectories with smooth changes in direction. We made a simulator of the path planner, logged planning data using single and combine steering sets. We searched for steering set parameters and obtained an effective steering set. And we compared a trajectory of extended A* planner with our planner's.