A Dynamic RRT Path Planning Algorithm Based on B-Spline

For the application of ALV (automatic land vehicle) running in a dynamic environment, an improved dynamic RRT (rapidly exploring random trees) path planning algorithm is proposed. The algorithm combines the noholonomic constraints of the vehicle with double extend RRTs, and the three order B-spline basic functions are used to approach and create a new smooth route which suits for the vehicle to follow. The algorithm not only improves the efficiency of searching but also guarantees the feasibility of the path at the same time. Based on the idea of rolling optimization, the algorithm is improved for real-time path planning in a dynamic environment. The simulation outcomes and field tests verify the effectiveness of the method proposed.