Fast Motion Planning for Non-Holonomic Mobile Robots via a Rectangular Corridor Representation of Structured Environments
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Acceso en línea: | |
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| _version_ | 1866910017769177088 |
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| author | Gonzalez-Garcia, Alejandro Wyns, Sebastiaan De Santis, Sonia Swevers, Jan Decré, Wilm |
| author_facet | Gonzalez-Garcia, Alejandro Wyns, Sebastiaan De Santis, Sonia Swevers, Jan Decré, Wilm |
| contents | We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible planners impose a significant computational burden due to their search space complexity. To overcome these limitations, our approach introduces a deterministic free-space decomposition that creates a compact graph of overlapping rectangular corridors. This method enables a significant reduction in the search space, without sacrificing path resolution. The framework then performs online motion planning by finding a sequence of rectangles and generating a near-time-optimal, kinematically-feasible trajectory using an analytical planner. The result is a highly efficient solution for large-scale navigation. We validate our framework through extensive simulations and on a physical robot. The implementation is publicly available as open-source software. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_09714 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Fast Motion Planning for Non-Holonomic Mobile Robots via a Rectangular Corridor Representation of Structured Environments Gonzalez-Garcia, Alejandro Wyns, Sebastiaan De Santis, Sonia Swevers, Jan Decré, Wilm Robotics We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible planners impose a significant computational burden due to their search space complexity. To overcome these limitations, our approach introduces a deterministic free-space decomposition that creates a compact graph of overlapping rectangular corridors. This method enables a significant reduction in the search space, without sacrificing path resolution. The framework then performs online motion planning by finding a sequence of rectangles and generating a near-time-optimal, kinematically-feasible trajectory using an analytical planner. The result is a highly efficient solution for large-scale navigation. We validate our framework through extensive simulations and on a physical robot. The implementation is publicly available as open-source software. |
| title | Fast Motion Planning for Non-Holonomic Mobile Robots via a Rectangular Corridor Representation of Structured Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.09714 |