A Sampling-Based Approach to Solve Difficult Path Planning Queries Efficiently in Narrow Environments for Autonomous Ground Vehicles

Path planning is an essential subproblem of autonomous robots' navigation. Reaching a given goal pose or covering the available space are typical navigation missions, that require different planning approaches. We focus on such problems in this paper, where a goal pose must be reached by a wheeled autonomous ground vehicle in challenging situations, i.e. in complex environments with limited free space. Many path-planning methods are available, from which the sampling-based approaches gained the highest interest due to their computational efficiency. However, the performance of such methods degrades if the free space is limited and narrow passages have to be crossed on the way to the goal. Finding real-time planning methods to deliver high-quality paths in such situations is challenging. This paper aims to take steps toward solving this problem. On the one hand, an approach is presented to characterize free space narrowness and the difficulty of planning tasks. This can be used as a tool to compare planning queries and evaluate the performance of planning methods from the perspective of their sensitivity to environmental narrowness. On the other hand, an improved variant of our previously proposed RTR planner, an incremental sampling-based path-planning method, is introduced that exhibits good performance even in narrow and difficult planning situations. It is shown by simulations that it outperforms the popular RRT and RRT* planners in terms of running time and path quality, and that it is less sensitive to the narrowness of the environment where the planning task has to be solved.