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January 14, 2026IET Intelligent Transport SystemsOpen Access

An Improved Rapidly‐Exploring Approach to Off‐Road Path Planning by Leveraging Dynamic Velocity Constraints and Trajectory Smoothing

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Authors

JSJiang SongSXShucai XuZJZ. Jiao

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Overview

Algorithm improves navigation and reduces path length by 6.9% in variable terrains, indicating better vehicle stability.

Key Points

  • The study aims to enhance off-road path planning by leveraging vehicle dynamics and trajectory smoothing.
  • Developed an improved rapidly-exploring random tree (IRRT) algorithm adjusting for vehicle speed and terrain features.
  • Utilized a nonlinear model predictive controller (NMPC) for path smoothing and ride comfort.
  • Tested in simulated and real-world environments with diverse terrain types, including hard roads and natural terrain.
  • Reduced path length by 6.9% and total turning angle by 12.3% compared to the original RRT.
  • Maintained maximum curvature within safety limits and improved ride comfort by 80.4%.
  • Despite a 272.2% increase in computation time, the gains in path quality justify the trade-off.

Cite This Study

Song et al. (2026) studied this question.

synapsesocial.com/papers/6966e71813bf7a6f02bff65dhttps://doi.org/10.1049/itr2.70148
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