Publication result detail

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

DVOŘÁK, J.; KRČEK, P.

Original Title

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

English Title

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

Type

Paper in proceedings (conference paper)

Original Abstract

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.

English abstract

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.

Keywords

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

Key words in English

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

Authors

DVOŘÁK, J.; KRČEK, P.

Released

30.05.2006

Publisher

Brno University of Technology, Faculty of Mechanical Engineering

Location

Brno

ISBN

80-214-3195-4

Book

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

Pages from

151

Pages to

156

Pages count

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"
}