Survey of Robot 3D Path Planning Algorithms

作者：Liang Yang, Juntong Qi, Dalei Song, Jizhong Xiao, Jianda Han, Yong Xia · 发表于：Journal of Control Science and Engineering · 年份：2016 · DOI：10.1155/2016/7426913 · 被引用次数：326 · 研究领域：Robotic Path Planning Algorithms、Robotics and Sensor-Based Localization、Control and Dynamics of Mobile Robots

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.