A new algorithm of path planning in 3D environments for an implemented quadcopter robot

Path planning within three-dimensional environments is of great importance in contemporary time due to the introduction robots many works. Finding shortest path reduces fuel and time. In this paper a new algorithm proposed plan paths 3D environments. The was tested two ways: simulation practical. A multi-propeller vehicle built that can track resulting from algorithm. spherical shape robot, obstacles basic work This does not mean cannot handle other forms obstacles. Any be represented by set intersecting spheres. consists pieces repeated number times until reaching target point. first piece straight connecting current position robot with point located on edge obstacle. second around obstacle points away distance equal radius robot. All are calculated equations derived paper. compared algorithms. results proved superiority terms length smoothness path.