In this work,  we develop algorithm for path planning of mobile robots, taking into account the nonholonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a 2D map and utilizes an enhanced version of the A∗ algorithm that incorporates non-holonomic constraints while ensuring collision avoidance. Two new instantiations of the A∗ algorithm are introduced and tested across various scenarios and environments, with results demonstrating the effectiveness of the proposed method.

1. Enhanced A∗ Algorithm for Mobile Robot Path Planning with Non-Holonomic Constraints

Suraj Kumar, Sudheendra R, Aditya R, Bharat Kumar GVP, Ravi Kumar L, 2024 Tenth Indian Control Conference (ICC)