Detail publikace

Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning

KRČEK, P. DVOŘÁK, J.

Originální název

Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

The aim of the robot path planning is searching for a path from a robot start configuration to a goal configuration without collisions with known obstacles minimizing weight of the path. We consider a nonholonomic robot moving in a two-dimensional continuous space with known polygonal obstacles. When planning a path by Case- Based Reasoning, the most similar cases (already used paths or their parts) are searched for to be subsequently adapted to the new problem. Rapidly-exploring Random Trees are used to find the missing parts of the constructed paths or new paths if similar cases are not found or adapted solutions are not good enough.

Klíčová slova

mobile robot, path planning, case-based reasoning, graph searching algorithms, nonholonomic constraints, rapidly-exploring random trees

Autoři

KRČEK, P.; DVOŘÁK, J.

Rok RIV

2007

Vydáno

1. 9. 2007

Nakladatel

VUT v Brně

Místo

Brno

ISBN

978-80-214-3473-8

Kniha

Mendel 2007

Strany od

151

Strany do

156

Strany počet

6

BibTex

@inproceedings{BUT25590,
  author="Petr {Krček} and Jiří {Dvořák}",
  title="Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning",
  booktitle="Mendel 2007",
  year="2007",
  pages="151--156",
  publisher="VUT v Brně",
  address="Brno",
  isbn="978-80-214-3473-8"
}