Non Holonomic RRT with Dynamic Replanning and Obstacle Mapping

This project aims to develop a real mobile robot (Raspberry Pi based) with advanced capabilities, including initial global localization using Monte Carlo Localization, smooth car-like driving, and efficient path planning through narrow and complex areas. The robot can detect and avoid new obstacles, dynamically update an “Obstacle Map,” and replan its path. Utilizing RRT-based motion planners for non-holonomic robots, the project focuses on two-wheeled systems like cars and car-trailer combinations. These planners generate raw paths refined through post-processing for smooth, collision-free navigation. Experiments and analyses show the non-holonomic RRT algorithm’s effectiveness, which can ehnace autonomous navigation in challenging environments for applications such as smart cars and planetary rovers.

The detailed report of the project can be found here.