Survey of Robot 3D Path Planning Algorithms

Table 2

Analysis of sampling based algorithms.

Method type	Shortcoming		Advantages
	Shortcomings	Improvement
RRT	Single path	[28, 29]	Low time complexity, fast searching ability
	Nonoptimal	[29, 30]
	Static threat only	[31]
PRM	Expensive collision check	[6, 32, 33]	Appropriate for complex environments and replanning situations
	Static threat only	[34]
	Nonoptimal	[30]
Voronoi	Incomplete representation	[35–38]	Easy to implement on-line and ignoring collision checking
	Nonconvergence	[39, 40]
	Static threat only	[41]
Artificial potential	Local minima	[42–47]	Fast convergence