Planning the movements of a mobile robot in a three-dimensional environment with constraints on pitch and yaw angles

Abstract

In this paper, the problem of motion planning in a three-dimensional environment taking into account constraints on pitch and yaw angles is considered. A hierarchical algorithm for solving the problem for an environment in which obstacles are approximated by spheres is proposed. At the upper level, the feasibility of planar motions is analyzed taking into account the specified constraints and the location of the start and target points. If the analysis confirms that the constraints are met, a decision is made to move to the specified point. Otherwise, a maneuver is performed in order to ensure the required constraints on pitch and yaw angles. Options for performing additional maneuvers are proposed that ensure a significant reduction in the path length during its execution. The motions at the lower level are implemented using an algorithm based on the characteristic visibility graph. This algorithm has advantages over cellular decomposition methods in the case of sufficiently complex scenes. Docking of individual sections of the motion is performed using a smoothing procedure according to the modified Dubins method. The proposed algorithm allows obtaining relatively simple and feasible target trajectories. In addition, the algorithm allows you to build optimal movement trajectories