Motion Planning of Mobile Robot with Non-holonomic Constraints

This paper proposes a modified spatio-temporal A* path planning algorithm for the trajectory planning of mobile robots with non-holonomic constraints. Most path planning algorithms treat mobile robots as to be with holonomic constraints. However, wheeled mobile robots are affected by non-holonomic constraints, which leads to trajectory unreachability. To solve this problem, an improved spatio-temporal A* algorithm based on non-holonomic constraints is given, which considers the efficiency, completeness and smoothness of the path. At the same time, by improving the construction form of collision constraint and adding spatio-temporal constraints to the path, the success rate and solving speed of the path planning algorithm for non-holonomic constrained mobile robot are increased. Finally, simulation experiments are given to indicate that the proposed planning algorithm provides an optimized path, while improving the planning success rate and reducing the computational time.