3D field D*: Improved path planning and replanning in three dimensions

We present an interpolation-based planning and replanning algorithm that is able to produce direct, low-cost paths through three-dimensional environments. Our algorithm builds upon recent advances in 2D grid-based path planning and extends these techniques to 3D grids. It is often the case for robots navigating in full three-dimensional environments that moving in some directions is significantly more difficult than others (e.g. moving upwards is more expensive for most aerial vehicles). Thus, we also provide a facility to incorporate such characteristics into the planning process. Along with the derivation of the 3D interpolation function used by our planner, we present a number of results demonstrating its advantages and real-time capabilities.