Review of 3D path planning methods for mobile robot

被引：13
|
作者：
Chen Y. [1 ,2 ,3 ]
Zhao X. [1 ]
Han J. [1 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
[2] College of Information Science and Engineering, Wuhan University of Science and Technology
[3] Graduate School of the Chinese Academy of Sciences
来源：
Jiqiren/Robot | 2010年 / 32卷 / 04期
关键词：
Dynamic constraint; Environment modeling; Obstacle avoidance; Real-time; Searching algorithm; Three dimensional space;
D O I：
10.3724/SP.J.1218.2010.00568
中图分类号：
学科分类号：
摘要：
A variety of three-dimensional path planning methods are divided into four categories according to their modeling principles. The working principles of those methods are introduced, and the advantages and disadvantages are pointed out in various applications. All of them are compared from the viewpoints whether they can be used in real-time and dynamic environment, whether they can achieve smooth path and global planning, and whether they can add different dynamic constraints conveniently. Conclusions are drawn from the comparison that the method based on virtual potential field and navigation function is superior to others for its real-time performance and will be a priority in local planners. The method based on mathematic optimization is capable of dealing with a variety of dynamic constraints. In contrast to mathematic optimization, the bio-inspired one is limited in solutions of long calling cycle for its large planning period although it is efficient to describe intractable constraints.
引用
收藏
页码：568 / 576
页数：8
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