Path optimization for rhombic-like vehicles: An approach based on rigid body dynamics

This paper proposes a new path optimization method to improve feasibility and optimality of rough collision-free paths provided by global planners. Inspired on the dynamics of rigid bodies, this method redefines the elastic bands framework to explicitly handle vehicle geometric constraints and explore the high maneuvering ability of rhombic vehicles. The proposed method was tested as a post optimization technique on global path solutions planned for a large transporter that will operate in the International Thermonuclear Experimental Reactor (ITER). Presented results show the proficiency of this method on handling feasible and reliable paths in cluttered scenarios such as those in ITER.