Abstract
This paper describes new path planning method for robot vehicles in consideration with physical constraints, which involve kinematic, dynamic, and environmental constraints. In order to drive a robot vehicle in real world, path planner has to generate an admissible path under these constraints. The method we propose in this paper is named KDEP (Kinodynamic and Environmental Planning). At first, KDEP calculates limitation of control input in every moment by using physical constraints. Some path candidates are generated by the results of integrations with the control inputs under the constraints. KDEP can successfully generate some good admissible paths in every numerical simulation.
