An optimal algorithm of 3D path planning for mobile robots

摘要

Global path planning was studied for a moving robot in a 3D environment filled with obstacles whose shapes and positions were known.An aggressive algorithm for path planning was presented.The obstacles were described by an energy function defined using neural networks.Different initial simulated anneal temperatures of each surface of objects can be set according to the shape of them.The different path generating equations were used, depending on the path points inside or outside the obstacles, which allows high speed of the calculations and fast convergence.The simulation results show that the computation is simple, some local minimum problems can be avoided, and the constructed path is optimal and piecewise linear.