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A strategy for safe 3D navigation of non-holonomic robots among moving obstacles

Published online by Cambridge University Press:  10 November 2017

Chao Wang,
Andrey V. Savkin and
Matthew Garratt
Chao Wang*
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia. E-mail: a.savkin@unsw.edu.au
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia. E-mail: a.savkin@unsw.edu.au
Matthew Garratt
Affiliation:
School of Engineering and Information Technology, The University of New South Wales, Canberra 2600, Australia. E-mail: m.garratt@adfa.edu.au
*
*Corresponding author. E-mail: z3184703@zmail.unsw.edu.au
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Summary

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A non-holonomic robot with a bounded control input travels in a dynamic unknown 3D environment with moving obstacles. We propose a 3D navigation strategy to reach a given final destination point while avoiding collisions with obstacles. A formal analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results and experiments with a real flying autonomous vehicle confirm the applicability and performance of the proposed guidance approach.

Keywords

Guidance3D navigationMoving obstaclesSense-and-avoidCollision avoidanceFlying robotsUnderwater robotsObstacle avoidanceNon-holonomic robotsNavigation in dynamic unknown environments

Information

Type
Articles
Information
Robotica , Volume 36 , Issue 2 , February 2018, pp. 275 - 297
Copyright
Copyright © Cambridge University Press 2017 

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