BREADTH FIRST SEARCH-DEPTH FIRST SEARCH THREE DIMENSIONAL RAPID EXPLORING RANDOM TREE SEARCH WITH PHYSICAL CONSTRAINTS

An example method of path planning, comprising at least one of, determining an initial position and at least one vehicle constraint, predetermining a distance to a new position, determining a minimum turn radius based on the at least one vehicle constraint, selecting a vehicle turn radius that is at least as large as the minimum turn radius, determining a candidate position based on the at least one vehicle constraint and the vehicle turn radius, verifying whether the candidate position is valid with respect to the new position and converting the new position to the candidate position.