The Obstacle-Restriction Method (ORM) for Reactive Obstacle Avoidance in Difficult Scenarios in Three-Dimensional Workspaces

This master’s project addresses the obstacle avoidance problem in difficult scenarios in three-dimensional workspaces. The main contribution of this project is the theoretical extension of the ObstacleRestriction Method (ORM) in two dimensions to work in 3D workspaces. This master’s thesis describes a reactive obstacle avoidance technique to drive a robot in dense, cluttered and complex environments in three-dimensional workspaces. The method has two steps: First a procedure computes instantaneous sub goals in the obstacle structure, second a motion restriction is associated with each obstacle which next are managed to compute the most promising direction of motion. The advantage with the ORM, regarding the obstacle avoidance problem, is that it avoids the problems and limitations common in other obstacle avoidance methods, leading to improved navigation results in difficult scenarios. This is confirmed by simulations made in difficult scenarios in three-dimensional workspaces.