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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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/7426913 |
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| _version_ | 1832554478055718912 |
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| author | Liang Yang Juntong Qi Dalei Song Jizhong Xiao Jianda Han Yong Xia |
| author_facet | Liang Yang Juntong Qi Dalei Song Jizhong Xiao Jianda Han Yong Xia |
| author_sort | Liang Yang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-10560bada7634da7ab756efa555f990c |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-10560bada7634da7ab756efa555f990c2025-02-03T05:51:26ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/74269137426913Survey of Robot 3D Path Planning AlgorithmsLiang Yang0Juntong Qi1Dalei Song2Jizhong Xiao3Jianda Han4Yong Xia5Shenyang Institute of Automation, Nanta 114th Street, Shenhe District, Shenyang 10016, ChinaShenyang Institute of Automation, Nanta 114th Street, Shenhe District, Shenyang 10016, ChinaShenyang Institute of Automation, Nanta 114th Street, Shenhe District, Shenyang 10016, ChinaThe City College, City University of New York, Convent Avenue at 140th Street, New York, NY, USAShenyang Institute of Automation, Nanta 114th Street, Shenhe District, Shenyang 10016, ChinaState Grid Liaoning Electric Power Company, Benxi, Liaoning 117000, ChinaRobot 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.http://dx.doi.org/10.1155/2016/7426913 |
| spellingShingle | Liang Yang Juntong Qi Dalei Song Jizhong Xiao Jianda Han Yong Xia Survey of Robot 3D Path Planning Algorithms Journal of Control Science and Engineering |
| title | Survey of Robot 3D Path Planning Algorithms |
| title_full | Survey of Robot 3D Path Planning Algorithms |
| title_fullStr | Survey of Robot 3D Path Planning Algorithms |
| title_full_unstemmed | Survey of Robot 3D Path Planning Algorithms |
| title_short | Survey of Robot 3D Path Planning Algorithms |
| title_sort | survey of robot 3d path planning algorithms |
| url | http://dx.doi.org/10.1155/2016/7426913 |
| work_keys_str_mv | AT liangyang surveyofrobot3dpathplanningalgorithms AT juntongqi surveyofrobot3dpathplanningalgorithms AT daleisong surveyofrobot3dpathplanningalgorithms AT jizhongxiao surveyofrobot3dpathplanningalgorithms AT jiandahan surveyofrobot3dpathplanningalgorithms AT yongxia surveyofrobot3dpathplanningalgorithms |