3-D path planning in a dynamic environment using an octree and an artificial potential field

Yoshifumi Kitamura, Takaaki Tanaka, Fumio Kishino, Masahiko Yachida

Research output: Contribution to conferencePaper

61 Citations (Scopus)

Abstract

We propose 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.

Original languageEnglish
Pages474-481
Number of pages8
Publication statusPublished - 1995 Jan 1
Externally publishedYes
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: 1995 Aug 51995 Aug 9

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period95/8/595/8/9

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Kitamura, Y., Tanaka, T., Kishino, F., & Yachida, M. (1995). 3-D path planning in a dynamic environment using an octree and an artificial potential field. 474-481. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .