Master's Thesis
This master thesis deals basically with the design and implementation of a path planning system based on rapidly exploring search trees for general-n-trailers. This is a probabilistic method that is characterized by a fast and uniform exploration. The method is well established, however, has been applied only to vehicles with simple kinematics to date. General-n-trailers represent a particular challenge as their controllability is limited. For this reason the focus of this thesis rests on the application of the mentioned procedure to general-n-trailers. In this context systematic correlations between the characteristics of general-n-trailers and the possibilities for the realization and application of the method are analyzed.