Publication detail
Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning
KRČEK, P. DVOŘÁK, J.
English title
Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning
Type
Paper in proceedings (conference paper)
Language
en
Original abstract
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.
Keywords in English
mobile robot, path planning, case-based reasoning, graph searching algorithms, nonholonomic constraints, rapidly-exploring random trees
Released
2007-09-01
Publisher
VUT v Brně
Location
Brno
ISBN
978-80-214-3473-8
Book
Mendel 2007
Pages from–to
151–156
Pages count
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"
}