A Collision-Free 3D Path Planning Strategy for Mobile Robots

Abstract

This work presents a collision-free 3D path planning strategy for the non-holonomic mobile robot control. The non-holonomic mobile robot travels through an unknown 3D environment with obstacles and reaches a given destination safely with no collisions. In addition, our approach enables to find the optimal path to the target efficiently based on the avoiding plane selected. The performance of the presented strategy is demonstrated via computer simulations and good results are obtained.