A method for collision free navigation of non-holonomic 3D robots in unknown tunnel like environments
Andrey V. Savkin, Chao Wang · 2017
A non-holonomic 3D robot or autonomous vehicle with a bounded control input travels in a complex unknown tunnel like 3D environment. We propose a 3D navigation strategy to move through a tunnel while keeping a safe distance from the tunnel wall. A mathematically rigorous analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results confirm the applicability and performance of the proposed navigation approach. The navigation law can be applied to both underwater autonomous vehicles and unmanned aerial vehicles.