Detail publikace

Using Case-Based Reasoning for Mobile Robot Path Planning

HODÁL, J. DVOŘÁK, J.

Originální název

Using Case-Based Reasoning for Mobile Robot Path Planning

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

The mobile robot path planning involves finding the shortest and least difficult path from a start to a goal position in a given environment without collisions with known obstacles. The main idea of case-based reasoning (CBR) is a presumption that similar tasks probably also have similar solutions. New tasks are solved by adapting old proved solutions of similar tasks to new conditions. Tasks and their solutions (cases) are stored in a case base. The focal point of this paper is the proposition of a path planning method based on CBR combined with graph algorithms in the environment represented by a rectangular grid. On the basis of the experimental results obtained, it is possible to say that case-based reasoning can significantly save computation costs, particularly in large environments.

Klíčová slova

Mobile robot; path planning; graph algorithms; case-based reasoning; case graph.

Autoři

HODÁL, J.; DVOŘÁK, J.

Rok RIV

2008

Vydáno

20. 8. 2008

ISSN

1802-1484

Periodikum

Engineering Mechanics

Ročník

15

Číslo

3

Stát

Česká republika

Strany od

181

Strany do

191

Strany počet

11

BibTex

@article{BUT48066,
  author="Jaroslav {Hodál} and Jiří {Dvořák}",
  title="Using Case-Based Reasoning for Mobile Robot Path Planning",
  journal="Engineering Mechanics",
  year="2008",
  volume="15",
  number="3",
  pages="181--191",
  issn="1802-1484"
}