3-D path planning in a dynamic environment using an octree and an artificial potential field
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Proposes an efficient and simple method for finding a collision-free path and orientation for a rigid robot in a dynamic observable 3-D environment for unmanned aerial vehicles (UAVs). The method uses an octree for representing every object (robot and static/dynamic obstacles) in the environment without any distinction of the movability of objects; therefore, all objects are dealt with in the same way. The path of a robot from its starting position to the given goal with arbitrary motion (i.e., translation and rotation) in a 3-D environment is efficiently searched for in successive adjoining regions (octree white cells) by using the potential field generated from each black cell of the octree. The algorithm is simple, so it can easily be accelerated by using parallelization techniques. Experimental results obtained under several conditions, such as a point shaped robot and arbitrarily shaped robots in static/dynamic environments, are reported.Keywords
This publication has 11 references indexed in Scilit:
- A feasible motion-planning algorithm for a mobile robot based on a quadtree representationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Path planning using Laplace's equationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Gross motion planning—a surveyACM Computing Surveys, 1992
- A potential field approach to path planningIEEE Transactions on Robotics and Automation, 1992
- A hierarchical strategy for path planning among moving obstacles (mobile robot)IEEE Transactions on Robotics and Automation, 1989
- A survey of construction and manipulation of octreesComputer Vision, Graphics, and Image Processing, 1988
- Multiresolution path planning for mobile robotsIEEE Journal on Robotics and Automation, 1986
- Real-Time Obstacle Avoidance for Manipulators and Mobile RobotsThe International Journal of Robotics Research, 1986
- Fast, three-dimensional, collision-free motion planningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Decision of robot movement by means of a potential fieldAdvanced Robotics, 1986