The proposed 3D Navigation Approach of an Autonomous Mobile robot

摘要

In this present work, we present an algorithm for path planning to a target for mobile robot in 3D unknown environment. The proposed algorithm allows a mobile robot to navigate through static obstacles, and finding the 3D path in order to reach the target without collision. Path planning is to generate a collision free path in an environment with obstacles with respect to some criterion. Trajectory planning is to schedule the movement of a mobile robot along the planned path. This algorithm provides the robot the possibility to move from the source position S to the target position T. The proposed 3D path finding strategy is designed in an unknown environment with static unknown obstacles. The robot moves within this unknown environment by sensing and avoiding the 3D obstacles coming across its way towards the target. This navigation is done by using a set creation IP (intersection points) and the results of {2*n select mode], n is the number of non linear segments that are above or below the linear path ST in collision with the obstacle. We multiply by (02) two because each time we check two selected intersection points that are belonging to the perimeter of the obstacle and are in the open list of new intersection of the another obstacle. The 3D algorithm returns the best response of any entering map parameters. The key idea is around the main line from the source to the destination and the mth obstacle causing the collision where they construct the 3D feasible path (a set of non linear segments) which is the neighbour of non linear safety size robot segments. The proposed 3D algorithm finds the optimal feasible path.