Non-holonomic path planning of car-like robot using RRT*FN

Path planning of car-like robots can be done using RRT and RRT*. Instead of generating the non-holonomic path between two sampled configurations in RRT, our approach finds a small incremental step towards the next configuration. Since the incremental step can be in any direction we use RRT to guide the robot from start configuration to end configuration. Moreover, an effective variant of RRT called as RRT - Fixed Nodes (RRT*FN) is used to show the path planning of non-holonomic car-like robot. The algorithm is further tested with different static environments. The results show that RRT*FN implemented with non-holonomic constraints is able to find a feasible solution with the increased cost of number of iterations of RRT*FN while maintaining fixed number of nodes.