Path Planning for Car-Like Robots using Towers of Uncertainties

The object of this paper is firstly to describe a safe path planning algorithm in an uncertain-configuration space named SATU
^*
, based on one of the most used path planner, the A
^*
algorithm, and to give its proofs of optimality and completeness. Secondly, it is to present an application of our algorithm to a mobile robotic problem, the way we tested the SATU
^*
in a simulated environment close to the real environment and, through two examples of different situations, the advantages of the SATU
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over a simple path planner as A
^*
.