Path Planning For Mobile Robots In 3D Dynamic Environments

Aiming at the robustness of the path planning of mobile robots in the 3D dynamic environment, an improved ARF (Artificial Potential Field) based path planning algorithm is proposed in this paper. Supposing that all the obstacles move regularly and the robot is on uniform motion in a grid 3D environment. Firstly, the algorithm computes the future statuses of the environment, such as the coordinate of all the obstacles and the goal, until a time step Tin which there is at least one route between the start and goal. T is obtained by BFS (Breadth First Search) and environment configuration parameters. Secondly, because in every time step the environment can be consider as being static, ARF is used to determine the potential value of every space position in each time step. Finally, a route along the lowest potential values is found for the robot from the start to goal. Simulation results show that the algorithm makes the robot avoid obstacles effectively and reach the goal safely.