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navigation in dynamic unknown environments

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A strategy for safe 3D navigation of non-holonomic robots among moving obstacles
Chao Wang, Andrey V. Savkin, Matthew Garratt
Journal:

Robotica / Volume 36 / Issue 2 / February 2018

Published online by Cambridge University Press:

10 November 2017, pp. 275-297
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A non-holonomic robot with a bounded control input travels in a dynamic unknown 3D environment with moving obstacles. We propose a 3D navigation strategy to reach a given final destination point while avoiding collisions with obstacles. A formal analysis of the proposed 3D robot navigation algorithm is given. Computer simulation results and experiments with a real flying autonomous vehicle confirm the applicability and performance of the proposed guidance approach.