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Intelligent Robots and Systems, IEEE/RSJ International Conference on (1995)
Pittsburgh, Pennsylvania, USA
Aug. 5, 1995 to Aug. 9, 1995
ISBN: 0-8186-7108-4
pp: 2474
Y. Kitamura , ATR Commun. Syst. Res. Labs., Kyoto, Japan
T. Tanaka , ATR Commun. Syst. Res. Labs., Kyoto, Japan
F. Kishino , ATR Commun. Syst. Res. Labs., Kyoto, Japan
M. Yachida , ATR Commun. Syst. Res. Labs., Kyoto, Japan
ABSTRACT
Proposes an efficient and simple method for finding a collision-free path and orientation for a rigid robot in a dynamic observable 3-D environment for unmanned aerial vehicles (UAVs). The method uses an octree for representing every object (robot and static/dynamic obstacles) in the environment without any distinction of the movability of objects; therefore, all objects are dealt with in the same way. The path of a robot from its starting position to the given goal with arbitrary motion (i.e., translation and rotation) in a 3-D environment is efficiently searched for in successive adjoining regions (octree white cells) by using the potential field generated from each black cell of the octree. The algorithm is simple, so it can easily be accelerated by using parallelization techniques. Experimental results obtained under several conditions, such as a point shaped robot and arbitrarily shaped robots in static/dynamic environments, are reported.
INDEX TERMS
mobile robots; path planning; octrees; aircraft control; 3-D path planning; dynamic environment; octree; artificial potential field; collision-free path; rigid robot; unmanned aerial vehicles; white cells; black cell; parallelization techniques; point shaped robot; static/dynamic environments
CITATION

F. Kishino, M. Yachida, T. Tanaka and Y. Kitamura, "3-D path planning in a dynamic environment using an octree and an artificial potential field," Intelligent Robots and Systems, IEEE/RSJ International Conference on(IROS), Pittsburgh, Pennsylvania, USA, 1995, pp. 2474.
doi:10.1109/IROS.1995.526259
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