Detail publikace

Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning

DVOŘÁK, J. KRČEK, P.

Originální název

Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

In this paper, we deal with mobile robot path planning in a two-dimensional grid in which known static obstacles and hazardous areas are defined. The aim of the path planning is searching for a path from a start to a goal position without collisions with known obstacles minimizing length, difficulty and risk of the path. We propose path planning methods based on using a case graph, which is a structure composed of segments of already used paths. These methods try to construct a new path combining paths in the case graph with paths found by the A* algorithm. We present results of comparing proposed methods and methods based only on using Dijkstra's algorithm and the A* algorithm. We also propose modifications of these algorithms for nonholonomic robots.

Klíčová slova

mobile robot, path planning, case-based reasoning, graph searching algorithms, nonholonomic constraints

Autoři

DVOŘÁK, J.; KRČEK, P.

Rok RIV

2006

Vydáno

30. 5. 2006

Nakladatel

Brno University of Technology, Faculty of Mechanical Engineering

Místo

Brno

ISBN

80-214-3195-4

Kniha

Proceedings of the 12th International Conference on Soft Computing MENDEL 2006

Číslo edice

1

Strany od

151

Strany do

156

Strany počet

6

BibTex

@inproceedings{BUT24079,
  author="Jiří {Dvořák} and Petr {Krček}",
  title="Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning",
  booktitle="Proceedings of the 12th International Conference on Soft Computing MENDEL 2006",
  year="2006",
  number="1",
  pages="151--156",
  publisher="Brno University of Technology, Faculty of Mechanical Engineering",
  address="Brno",
  isbn="80-214-3195-4"
}