A 3D Reactive Collision Free Navigation Strategy for Nonholonomic Mobile Robots

摘要

The navigation of nonholonomic mobile robots in 3D environments is a very challenging problem. This work develops a 3D reactive navigation strategy to ensure that a mobile robot can reach its destination safely avoiding obstacles. The proposed reactive strategy relies on sensed information about the obstacles which makes it suitable for applications including mobile robots in unknown environments. Furthermore, it can be ideal for robots with limited capabilities due to its low computational complexity. The performance of the proposed strategy is evaluated using computer simulations, and good results are obtained.