Asymptotic optimal trajectory planning under consideration of kinematic and direction constraints for mobile car-like robots

In many future applications autonomous mobile robots will play an important role. One of the key functionalities is the autonomous navigation of these robots. At the moment only physical constraints of the robot itself are considered in planning algorithms. But in real world applications also other kind of constrains like direction constrains or speed limits exist. This paper shows an extension to the RRTCAP* algorithm in order to cope with this kind of constrains. In experimental results this extension is evaluated according some performance measures.