Three Dimensional Path Planning and Obstacle Avoidance: An Overview

This paper presents a survey for a three dimensional path planning algorithms which produced significant attention for the last years. It is dependent on the static and dynamic obstacles when the mobile robot draw it is trajectory to the goal. Also this paper discusses the type of the three dimensional vehicles: The Unmanned Aerial Vehicle (UAV) as a flying robot and the Autonomous Underwater Vehicles (AUVs) as a swimming robot. Two types of data structure are discussed in this paper which represents the navigable area of a virtual environment: the Voxel grid and the volumetric navigation mesh. The differences among the surveyed approaches are discussed and the results are summarized.