Navigation of Car-Like Robots in Three-Dimensional Space

摘要

In this paper, we propose a new solution to the motion plan- ning and control problem via the Lyapunov-based Control Scheme for car-like mobile robots in three-dimension space navigating in a workspace cluttered with obstacles. To achieve this, a set of nonlinear continuous controllers for obstacle and collision avoidance is presented. The con- trollers provide a collision-free trajectory within a constrained workspace whilst satisfying the nonholonomic and kinodynamic constraints associated with the vehicular robotic system. In essence, the motion planner computes and generates a feasible collision-free path in the 3D workspace. The effectiveness of the control laws is demonstrated via computer simulations, which showcases the simplicity and effectiveness of the control technique.