A Reactive Control Algorithm for 3D Navigation of a Non-holonomic Robot in Tunnel-Like Environments with Static Obstacles

The motion of a non-holonomic mobile robot in a tunnel-like environment with obstacles is a tough challenge. We propose a navigation scheme to navigate a robot in a tunnel-like structure without colliding with static obstacles. The mobile robot will maintain a predefined distance with the walls of the tunnel. Computer simulation results validate the performance of the algorithm. The proposed law is also applicable to underwater and aerial autonomous vehicles.