Hostname: page-component-586b7cd67f-dsjbd Total loading time: 0 Render date: 2024-11-22T02:29:04.836Z Has data issue: false hasContentIssue false
  • English
  • Français

3D Navigational Path Planning

Published online by Cambridge University Press:  09 March 2009

T.M. Rao  and
Ronald C. Arkin
T.M. Rao
Affiliation:
Department of Computer Science, SUNY Brockport, N.Y. 14420 (USA)
Ronald C. Arkin
Affiliation:
School of Information and Computer Science, Georgia Institute of Technology, Atlanta, GA 30332 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

The problem of path planning for a mobile robot has been studied extensively in recent literature. Much of the work in this area is devoted to the study of path planning for an earth-bound robot in two dimensions. In this paper, we explore the problem for a robot that can fly in three dimensional space or crawl on 3D surfaces or use a combination of both. We assume that the obstacles can be modeled as polyhedral objects.

Keywords

Path Planning3D NavigationMeadow MapsCrystal MapsA* Search Algorithm.
Type
Article
Information
Robotica , Volume 8 , Issue 3 , July 1990 , pp. 195 - 205
Copyright
Copyright © Cambridge University Press 1990

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

[1]Lozano-Perez, T., “Automatic Planning of Manipulator Transfer Movements” Robot Motion: Planning and Control (eds. Brady, , Hollerbach, , Johnson, , Lozano-Perez, and Mason, ) (MIT Press, Cambridge MA, 1982) pp. 499–535.Google Scholar
[2]Mitchell, J. and Keirsey, D., “Planning Strategic Paths Through Variable Terrain Data”, Proc. Applications of Artificial Intelligence SPIE S&J 172–179 (1984).Google Scholar
[3]Parodi, A.M., “Multi-Goal, Real-Time Global Path Planning for an Autonomous Land Vehicle using a High-Speed Graph Search Processor” Proc. IEEE Int. Conf. on Robotics and Automation,St. Louis, Mo. 161–167 (1985).Google Scholar
[4]Thorpe, C., “Path Relaxation: Path Planning for a Mobile Robot” CMU Robotics Institute Technical Report CMU-RI-TR-84-5, Pittsburg, PA (04, 1984).CrossRefGoogle Scholar
[5]Andressen, F.P., Davis, L.S., Eastman, R. and Kambhampati, S., “Visual Autonomous Navigation” Proc. IEEE International Conference on Robotics and Automation,St. louis, Mo. 856–861 (1985).Google Scholar
[6]lyengar, S., Jorgensen, C., Rao, S. and Weisbin, C., “Learned Navigation Paths for a Robot in Unexplored Terrain” Proc. IEEE Second Conf. on Artificial Intelligence Applications148–155 (12, 1985).Google Scholar
[7]Kuan, D.T., Zamiska, J. and Brooks, R., “Natural Decomposition of Free Space for Path Planning” Proc. IEEE International Conference on Robotics and Automation,St. Louis, Mo.168–173 (1985).Google Scholar
[8]Arkin, R.C., “Navigational Path Planning for a Vision Based Mobile Robot” Robotica 7, 149–63 (1989).CrossRefGoogle Scholar
[9]Chatila, R. and Laumond, J.P., “Position Referencing and Consistent World Modeling for Mobile Robots” Proc. IEEE International Conference on Robotics and Automation,St. Louis, Mo.138–145 (1985).Google Scholar
[10]Arkin, R.C., “Path Planning and Execution for a Mobile Robot: A Review of Representation and Control Strategies” COINS Technical Report 86–47 (Computer and Information Science Department, University of Massachusetts, 10 1986).Google Scholar
[11]Arkin, R. C., “Three-dimensional Motor Schema Based Navigation” Proc. NASA Conference on Space Telerobotics,Pasadena, CA (02, 1989).Google Scholar