3D visual robot guidance in dynamic environment

Abstract

A 3D robot path planning algorithm for use in a time-varying environment, which uses octree data structures, is described. The algorithm operates in two steps. First, the moving obstacles are removed from the environment so that a collision-free path is planned in the 3D stationary workspace. Secondly, the 3D volume swept by the motion of the obstacles is represented by an octree, which is then used to modify the path at the collision places