The research of path planning algorithm considering vehicle´s turning radius for unmanned ground vehicle

The existing path planning algoritms focus on creating only shortest path from the start position to the goal. As result of process, the path made by this algoritms doesn´t consider moving characteristics of object. And it is hard to apply to unmanned ground vehicle(we abbreviate the word by `UGV´). We must consider vehicle´s kinematic factors for path planning for car-like vehicle. So we suggest new path planning algoritm adding position(x, y), orientation(θ) and forward/backward(r) to existing path planning algorithm.