Survey of Robot 3D Path Planning Algorithms

By Liang Yang, Juntong Qi, Dalei Song, Jizhong Xiao, Jianda Han, Xia Yong. 2016

320 citations recorded by the source corpus.

Robot 3D three-dimension path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints including geometric, physical, and temporal constraints. The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/cf23d44b9826ac7ac999f7f0bc427e668c0b3908

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  1. B. K. Patle
  2. D. Parhi
  3. A. Jagadeesh
  4. G. Babu L.
  5. Anish Pandey
  6. J. Sánchez-Ibáñez

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