Abstract
In this paper, we consider a path planning problem for a car-like robot with nonholonomic constraints in motion planning. The path should be smooth and the steering angle has to change continuously. Various techniques have been proposed. However, those methods vary the angular velocity or they do not give a consideration to obstacles in the work space. We propose a new method of finding a path by the Voronoi graph and the clothoid curve which has uniform angular velocity. By using the obtained path, the robot can move smoothly and avoid collision with the obstacles as far as possible.
