Path Planning using a Dynamic Vehicle Model

This paper addresses the problem of path plan-nrng using a dynamic vehicle model. Previous works which include a basic kinematic model generate paths that are only realistic at very low speed. By consider-ing higher vehicle speed during navigation, the vehicle can significantly deviate from the planned trajectory. Consequently, the planned path becomes unusable for the mission achievement. So, to bridge a gap between planning and navigation, we propose a realistic path planner based on a dynamic vehicle model.