Improved RRT for Nonholonomic Motion Planning Using Reeds-Shepp Curve Path

This paper proposes an improved RRT algorithm (RS-RRT) that incorporates Reeds-Shepp curves to address the motion planning problem for vehicles under nonholonomic constraints. Aiming at the low planning efficiency of the basic RRT algorithm in three-dimensional pose space caused by orientation deviations, RS-RRT introduces a Reeds-Shepp curve detection mechanism after each tree expansion to directly calculate a feasible path from the current node to the target node, thereby enhancing planning success rates and stability. Finally, the performance of the basic RRT algorithm and the improved RS-RRT algorithm is compared in simulation scenarios.