Path planning system for car-like robot

Abstract

The paper presents a path planning system consisting of two main modules. The first one seeks the part of a collision-free path for a holonomic robot. The part found is then used to create a subgoal for the second module which seeks a local path for a nonholonomic robot. The approach proposed does not apply the configuration space technique. The system allows one to find a global collision-free path for a car-like robot in an unstructured indoor environment.