A 2-D and 3-D robot path planning algorithm based on quadtree and octree representation of workspace

摘要

This method is of particular interest for robotic systems which require both 2-D navigation to reach the work site and 3-D path planning for on-site manipulation and inspection. The approach of 2-D path planning is extended to 3-D with minimum effort. The quadtree and octree structures are used for 2-D and 3-D workspace representation, respectively. Quadtrees and octrees are generated from a brightness image of the workspace, obtained using a camera mounted on a robot. Path generation is based on the A algorithm. The spatial length and the clearance space available for the robot are used as constraints in the path generation. The results of this approach are illustrated by an experimental system set up on a robotic workstation.