José María Sanz

Expert-Guided Kinodynamic RRT Path Planner for Non-Holonomic Robots

In this paper, an Expert-Guided Kinodynamic RRT algorithm (EGK-RRT) is presented. It aims to consider how a human pilot would navigate a kinodynamic robot. One of the characteristics of this algorithm is the fact that, unlike the original RRT for kinodynamic systems, it generates deterministic contr…