Optimal Spline-based RRT Path Planning Using Probabilistic Map

This paper presents an optimal path planning algorithm that adopts the rapidly-exploring random tree(RRT) as a path planner. The RRT generates a valid path quickly, but it does not have the ability to control the quality of the path. In this paper, the nonholonomic path planning and the optimal path planning are tackled simultaneously within the RRT framework. The spline-based RRT algorithm generates a feasible path satisfying the differential constraints, and the RRT* strategy is incorporated to guarantee the optimal solution. In addition, the probabilistic map combining 3D Lidar and visual camera is used as a map for the path planning. Simulation results show that the proposed spline-based RRT* outputs a dynamically feasible optimal path.