This paper describes a technique for path planning in environments cluttered with obstacles for mobile robots with nonholonomic kinematics and bounded trajectory curvature (i.e., limited turning radius). The method is inspired by the results of Reeds and Shepp (1990) regarding shortest paths of bounded curvature in absence of obstacles. It is proved that, under suitable assumptions, the proposed technique provides the shortest path of bounded curvature among polygonal objects for a particular class of vehicles (circular unicycles of radius h and minimum turning radius /spl rho//sub min//spl les/h). Although the class of vehicles this theoretical result is restricted to is rather narrow, the proposed planner can be satisfactorily applied to other nonholonomic vehicles yielding good practical results.
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机译：本文介绍了一种在运动环境杂乱无章的环境中进行路径规划的技术，这种运动机器人具有非完整的运动学和有限的轨迹曲率（即有限的转弯半径）。该方法的灵感来自Reeds和Shepp（1990）关于在没有障碍物的情况下有界曲率的最短路径的结果。事实证明，在适当的假设下，针对特定类别的车辆（半径为h且最小转弯半径为/ spl rho // sub min // spl les / H）。尽管该理论结果所限制的车辆类别相当狭窄，但是所提出的计划者可以令人满意地应用于产生良好实际结果的其他非完整车辆。
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