Path Planning for Robot with Pose Constraints Using Dubins-RRT

Abstract

Path planning is one of the critical tasks for mobile robots in environment with obstacles. This paper presents a path planning approach for mobile robots with pose constraints to address the obstacle avoidance problem. In this approach, Dubins curves are integrated with the rapidly-exploring random tree to determine the resultant path for collision avoidance. The procedures of the rapidly-exploring random tree approach are modified based on the characters of the Dubins curves in order to handle the pose constraints of the robot. Meanwhile, rather than using the Dubins curves to search the workspace inefficiently, several heuristic conditions are designed and adopted to accelerate the sampling and path planning process. Simulation results are also presented in this paper to prove the feasibility and efficiency of the proposed path planning approach.