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Dubins-RRT* motion planning algorithm considering curvature-constrained path optimization
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AI
DOI：10.1016/j.eswa.2025.128390.png)
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Abstract
En 中文
• A Dubins motion planning algorithm is proposed, combining Dubins-RRT* and path optimization for obstacle avoidance with minimal turns. • A modified Dubins-RRT* algorithm is introduced, enhancing efficiency by reducing sampling and collision detection. • A curvature-constrained path optimization algorithm is developed, extending 3-point Dubins theory to CCSPP, significantly improving solving efficiency.
Keywords:
Dubins motion planning
path optimization
obstacle avoidance
curvature constraint
RRT*
Journal
IF:
7.5
Papers:
2.9W
Citations:
10.2W