Reactive obstacle avoidance for mobile robots that operate in confined 3D workspaces

This paper addresses the obstacle avoidance problem for robots that operate in confined three-dimensional workspaces. The contribution of this research summarizes fin: (i) the generalization of an existing technique to deal with 3D workspaces, (ii) an implementation of the method, and (iii) the experimental validation with an special emphasis on dense, cluttered and confined scenarios, which are the difficulty of the existing techniques. We show results that illustrate how this method successfully performs obstacle avoidance, and how it inherits the benefits of the original method being able to overcome the typical challenging problems of other obstacle avoidance methods but extrapolated to three dimensions