3D Path Planning for Flying/Crawling Robots

T. M. Rao; Ronald C. Arkin

doi:10.1117/12.969872

1 March 1990 3D Path Planning for Flying/Crawling Robots

T. M. Rao, Ronald C. Arkin

Proceedings Volume 1195, Mobile Robots IV; (1990) https://doi.org/10.1117/12.969872
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

World modeling and path planning techniques for a mobile robot that can navigate through a three dimensional world are developed. A crystal map (an extension of the 2D meadow map representation) serves as the world model. A free-space decomposition algorithm is described that produces this representation. Four variations of the A* search technique are applied to the crystal map producing paths for a robot that can fly and/or crawl through the modeled world. Path improvement strategies are also described. Simulation studies indicate the feasibility of these methods.

Citation Download Citation

T. M. Rao and Ronald C. Arkin "3D Path Planning for Flying/Crawling Robots", Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); https://doi.org/10.1117/12.969872

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