Unmanned ground vehicle local trajectory planning algorithm

Local trajectory is the base of motion UGV and several algorithms used to calculate desired land robot path. A common approach is to use a 2-D grid based algorithm, such a well-known A*. But problems arise due to specific kinematic of ground vehicle and nonideal movement realisation. In this paper presented an approach to local trajectory planning on base 2-D passability map with considering UGV kinematic constrains and also errors in the implementation of the path, computed for UGV motion.