  The trajectory derived from RRT and RRT* is zagged. A holonomic drive is able
to follow this trajectory. But real-life vehicle which has dynamical
constraints cannot follow this trajectory. In this work, we are going to modify
the RRT and RRT* algorithm to generate a trajectory that a vehicle with
dynamical constraint can follow. The continuous nature of steering control and
acceleration control in a real-world vehicle introduces the complexity in its
model. To introduce constraint in the vehicle's motion, while reducing the
number of control and hence complexity, we are modeling our vehicle as a Dubins
car. A Dubins car has only three controls (turning left, turning right, and
moving forward) with a fixed velocity which makes our model simple. We use
dubins curve (path that dubins car can follow) to trace the trajectory in RRT
and RRT* algorithm.
