Survey of Robot 3D Path Planning Algorithms
Top Cited Papers
Open Access
- 1 January 2016
- journal article
- review article
- Published by Hindawi Limited in Journal of Control Science and Engineering
- Vol. 2016, 1-22
- https://doi.org/10.1155/2016/7426913
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.Keywords
Funding Information
- National Science and Technology Support (61503369, 61528303)
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