Publication detail

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

KRČEK, P. DVOŘÁK, J.

Original Title

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

Type

conference paper

Language

English

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

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

Authors

KRČEK, P.; DVOŘÁK, J.

RIV year

2007

Released

1. 9. 2007

Publisher

VUT v Brně

Location

Brno

ISBN

978-80-214-3473-8

Book

Mendel 2007

Pages from

151

Pages to

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"
}