Publication detail
Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning.
DVOŘÁK, J. KRČEK, P.
English title
Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning.
Type
Chapter in a book
Language
en
Original abstract
The purpose of the robot path planning is to find a path from a robot start configuration to a goal configuration without collisions with known obstacles minimizing such criteria as length, difficulty and risk of the path. We consider a nonholonomic robot moving in a dynamic partially known two-dimensional space with polygonal obstacles We propose path planning methods combining case-based reasoning with graph searching methods in a rectangular grid and rapidly exploring random trees in a continuous space. Proposed methods are based on a case graph, which is a structure composed of segments of already used paths. Graph searching algorithms for the case graph and the grid are modified with respect to nonholonomic constraints.
Keywords in English
Nonholonmomic mobile robot; path planning; case-based reasoning; graph searching algorithms; rapidly exploring random trees.
Released
2006-12-15
Publisher
Brno University of Technology
Location
Brno
ISBN
80-214-3341-8
Book
Simulation Modelling of Mechatronic Systems II
Pages from–to
131–137
Pages count
7
BIBTEX
@inbook{BUT55116,
author="Jiří {Dvořák} and Petr {Krček}",
title="Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning.",
booktitle="Simulation Modelling of Mechatronic Systems II",
year="2006",
publisher="Brno University of Technology",
address="Brno",
series="Mechatronics",
edition="1",
pages="131--137",
isbn="80-214-3341-8"
}