In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a 2D map and utilizes an enhanced version of the A∗ algorithm that incorporates non-holonomic constraints while ensuring collision avoidance. Two new instantiations of the A∗ algorithm are introduced and tested across various scenarios and environments, with results demonstrating the effectiveness of the proposed method.
@article{arxiv.2503.00764,
title = {Enhanced $A^{*}$ Algorithm for Mobile Robot Path Planning with Non-Holonomic Constraints},
author = {Suraj Kumar and Sudheendra R and Aditya R and Bharat Kumar GVP and Ravi Kumar L},
journal= {arXiv preprint arXiv:2503.00764},
year = {2025}
}