Path Planning for Vehicle with Constraint on Turning Radius among Obstacles
A path re-planning method is proposed based on a discretization of the state space, aiming at finding a collision-free path for the vehicle which is capable of forward and backward motion when changes occur in the environment. A Control Set with Turning Radius Constraint (CSTRC) is formulated and the feasibility of paths in CSTRC is also proved out. The A* search is applied to produce a feasible path considering the distance and angle between the vehicle and the target pose. Path re-planning can be carried out efficiently when the environment changes. Simulation results demonstrate that the method realizes path re-planning effectively and the path satisfy the turning radius constraint.
Daizhong Su, Qingbin Zhang and Shifan Zhu
N. J. Wang et al., "Path Planning for Vehicle with Constraint on Turning Radius among Obstacles", Key Engineering Materials, Vol. 450, pp. 128-132, 2011