PLANNING COLLISION-FREE PATHS IN A 3-DIMENSIONAL PARTIALLY KNOWN ENVIRONMENT

An algorithm that finds collision-free paths for a robot which works i n three-dimensional (3D) initially unknown environments is described. Vision and proximity sensors are used in order to increase the knowled ge of the environment. These sensors recognize and calculate the posit ion and orientation of obstacles in the robot's field of view. The env ironment model is based on a polyhedral representation. The environmen t map is continuously updated and increased using sensor information. This map is based on 3D free-ways formed by pyramids with a convex bas e. The environment knowledge database is used for rapid collision-free path planning.