![](bg6.png)
6 CONCLUSIONS
As visibility line (VL) method is effective in produc-
ing path with shortest length, it has been used to de-
velop a three-dimensional (3D) path planning algo-
rithm, BLOVL
3D
. BLOVL
3D
governsBasePlane, Ro-
tate
3D
as well as Base Line Oriented Visibility Line
(BLOVL) algorithms to find a 3D path. BasePlane
algorithm is used to establish a local plane. Next Ro-
tate
3D
algorithm rotates the plane. At each rotation
of the plane, a path with lowest cost is calculated by
BLOVL and recorded. After the local plane has been
rotated at all angles, the resulted paths are compared
to each other and the shortest one will be selected.
The process continues with a newstarting point which
is the second waypoint of the previous shortest path.
The process is stopped if the target point has been
reached. Simulations results show that BLOVL
3D
and
its sub-algorithms are capable to effectively find sub-
optimal paths in term of path length in 3D environ-
ments and is very promising to be applied in real time
3D path planning.
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