Extension of the Rapidly Exploring Random Tree Algorithm with Key Configurations for Nonholonomic Motion Planning

The rapidly exploring random tree (RRT) algorithm is a randomized path planning method specifically designed for robots with nonholonomic constraints. This method builds a tree during the calculations and the path is searched in this tree. To solve special, more involved problems (e.g. moving through a narrow passage) the usage of a key configuration is suggested. A key configuration helps to find the path from the start to the goal position. This paper gives a method to use key configurations in the RRT method