非ホロノミック制約を考慮した移動ロボット経路計画のための拡張A*アルゴリズム
Enhanced $A^{*}$ Algorithm for Mobile Robot Path Planning with Non-Holonomic Constraints
移動ロボットの旋回半径制約と有限サイズを考慮し、衝突回避を保証する拡張A*アルゴリズムを提案し、様々な環境で有効性を検証した。
著者: Suraj Kumar, Sudheendra R, Aditya R, Bharat Kumar GVP, Ravi Kumar L
分類: cs.RO
原文アブストラクト
In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a 2D map and utilizes an enhanced version of the $A^{*}$ algorithm that incorporates non-holonomic constraints while ensuring collision avoidance. Two new instantiations of the $A^{*}$ algorithm are introduced and tested across various scenarios and environments, with results demonstrating the effectiveness of the proposed method.
