A 3-D Path Planner for Mobile Robot in Circuit Map

The complexity in 3-D path planning can be overcome by means of making multi-cage 3-D circuit map. And the path planning is transformed into current computing and tracing in circuit map. The resistors in a circuit map are determined by obstacles, risk areas, current or swirl, which have interference on AUVs or flying robots. The branches with the largest current constitute the path segments. This environment modeling method could reflect the practical conditions in physics space effectively. The path planning result shows good performance in synthetic decision. Simulations prove its feasibility, effect and efficiency.