Survey of Robot 3D Path Planning Algorithms
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 c...
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| Published in | Journal of control science and engineering Vol. 2016; no. 2016; pp. 1 - 22 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Cairo, Egypt
Hindawi Publishing Corporation
01.01.2016
John Wiley & Sons, Inc Wiley |
| Subjects | |
| Online Access | Get full text |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Xiao, Jizhong Xia, Yong Yang, Liang Song, Dalei Han, Jianda Qi, Juntong |
| Author_xml | – sequence: 1 fullname: Han, Jianda – sequence: 2 fullname: Xiao, Jizhong – sequence: 3 fullname: Song, Dalei – sequence: 4 fullname: Qi, Juntong – sequence: 5 fullname: Yang, Liang – sequence: 6 fullname: Xia, Yong |
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| Copyright | Copyright © 2016 Liang Yang et al. Copyright © 2016 Liang Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
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| SubjectTerms | Algorithms Appliances Categories Classification Colleges & universities Efficiency Grounds Kinematics Methods Motion control Optimization Path planning Planning Product design Robots Three dimensional |
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| Title | Survey of Robot 3D Path Planning Algorithms |
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