This paper focuses on the motion planning for mobile robots in 3D, which are modeled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also impose the requirement of the heading direction at the terminal time, which gives rise to a new and more challenging 3D motion planning problem. The proposed planning algorithm involves a novel velocity vector field (VF) over the workspace, and by following the VF, the robot can be navigated to the destination with the specified heading direction. In order to circumvent potential collisions with obstacles and other robots, a composite VF is designed by composing the navigation VF and an additional VF tangential to the boundary of the dangerous area. Moreover, we propose a priority-based algorithm to deal with the motion coupling issue among multiple robots. Finally, simulations are conducted to verify the theoretical results.

中文翻译：

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一种用于 3D 非完整机器人的新型基于矢量场的运动规划算法


本文重点介绍了移动机器人的 3D 运动规划，这些运动规划由具有非完整运动学约束的 6-DOF 刚体系统建模。我们不仅指定了目标位置，而且还在终端时间对航向提出了要求，这就产生了一个新的、更具挑战性的 3D 运动规划问题。所提出的规划算法涉及工作空间上的新型速度矢量场 （VF），通过遵循 VF，机器人可以导航到具有指定航向的目的地。为了规避与障碍物和其他机器人的潜在碰撞，通过将导航 VF 和与危险区域边界相切的附加 VF 组成，设计了复合 VF。此外，我们提出了一种基于优先级的算法来处理多个机器人之间的运动耦合问题。最后，通过仿真验证了理论结果。