RRT Path Planning using a Dynamic Vehicle Model - Path Planning using a Dynamic Vehicle Model Romain Pepy, Alain Lambert, Hugues Mounier Information and Communication Technologies, 2006. ICTTA '06. 2nd
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چکیده
This paper addresses the problem of path plannrng using a dynamic vehicle model. Previous works which include a basic kinematic model generate paths that are only realistic at very low speed. By considering higher vehicle speed during navigation, the vehicle can significantly deviate from the planned trajectory. Consequently, the planned path becomes unusable for the mission achievement. So, to bridge a gap between planning and navigation, we propose a realistic path planner based on a dynamic vehicle model.
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