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中文摘要：
按照建模原理的不同,将目前各种3维路径规划方法分为4类,阐述了各种方法的工作原理,指出了各种方法在不同应用领域的优势和劣势.分别从实时性、动态环境适应性、规划路径的光滑性、全局规划能力以及加入动力学约束的难易程度等方面进行了比较.分析结果指出,基于虚拟势场与导航函数的方法实时性最好,可在局部规划器中优先选用.基于数学优化的方法能够综合考虑各种动力学约束;而基于生物智能的方法虽然便于表达各种棘手的约束,但规划周期太长,只适用于长周期调用.
英文摘要：
A variety of three-dimensional path planning methods are divided into four categories according to their mod-eling principles.The working principles of those methods are introduced,and the advantages and disadvantages are pointed out in various applications.All of them are compared from the viewpoints whether they can be used in real-time and dy-namic environment,whether they can achieve smooth path and global planning,and whether they can add different dynamic constraints conveniently.Conclusions are drawn from the comparison that the method based on virtual potential field and navigation function is superior to others for its real-time performance and will be a priority in local planners.The method based on mathematic optimization is capable of dealing with a variety of dynamic constraints.In contrast to mathematic op-timization,the bio-inspired one is limited in solutions of long calling cycle for its large planning period although it is efficient to describe intractable constraints.
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