Enhanced $A^{\ast }$ Algorithm for Mobile Robot Path Planning with Non-Holonomic Constraints

In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a 2D map and utilizes an enhanced version of the $A^{\ast }$ algorithm that incorporates non-holonomic constraints while ensuring collision avoidance. Two new instantiations of the $A^{\ast }$ algorithm are introduced and tested across various scenarios and environments, with results demonstrating the effectiveness of the proposed method.