Detail publikace

GA-Based Path Planning for Nonholonomic Mobile Robots

KRČEK, P. DVOŘÁK, J.

Originální název

GA-Based Path Planning for Nonholonomic Mobile Robots

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

In this paper, we deal with nonholonomic mobile robot path planning in a two-dimensional continuous space with known static polygonal obstacles. This problem involves finding a collision-free path from a start to a goal position, satisfying kinematic constraints and minimizing an evaluation function. The proposed approach consists of finding a path for a simplified nonholonomic robot by means of a genetic algorithm and subsequent adapting this path to remaining nonholonomic constraints by using a modified bi-directional A* algorithm. We compare this approach with methods based on A* and on rapidly exploring random trees.

Klíčová slova

mobile robot, nonholonomic constraints, path planning, genetic algorithms, graph search algorithms, rapidly-exploring random trees

Autoři

KRČEK, P.; DVOŘÁK, J.

Rok RIV

2011

Vydáno

15. 6. 2011

Nakladatel

Brno University of Technology

Místo

Brno

ISBN

978-80-214-4302-0

Kniha

MENDEL 2011 - 17th International Conference on Soft Computing

Strany od

552

Strany do

559

Strany počet

8

BibTex

@inproceedings{BUT74659,
  author="Petr {Krček} and Jiří {Dvořák}",
  title="GA-Based Path Planning for Nonholonomic Mobile Robots",
  booktitle="MENDEL 2011 - 17th International Conference on Soft Computing",
  year="2011",
  pages="552--559",
  publisher="Brno University of Technology",
  address="Brno",
  isbn="978-80-214-4302-0"
}