Publication detail

The Use of Case-Based Reasoning to Robot Navigation

HODÁL, J. DVOŘÁK, J.

Original Title

The Use of Case-Based Reasoning to Robot Navigation

Type

journal article - other

Language

English

Original Abstract

In this paper we deal with possible uses of case-based reasoning methods to improve autonomous mobile robot navigation. We describe CBR approaches to both levels of navigation, global and local, but the main attention is focused on a path planning problem. The aim of path planning is to search for paths between two points without collisions with known obstacles. At the same time, the length, difficulty and risk of paths need to be minimized. The verified paths are stored in a case base along with information about their properties. When proposing a path, first of all, the most similar already used paths are found. Then they are adapted to the new problem definition. When no sufficiently resembling paths are found, other methods are used to search for paths.

Keywords

Mobile robot, robot navigation, path planning, case-based reasoning, case graph

Authors

HODÁL, J.; DVOŘÁK, J.

RIV year

2007

Released

10. 12. 2007

ISBN

1802-3525

Periodical

Cybernetic Letters

Year of study

5

Number

III

State

Czech Republic

Pages from

7

Pages to

18

Pages count

12

BibTex

@article{BUT45166,
  author="Jaroslav {Hodál} and Jiří {Dvořák}",
  title="The Use of Case-Based Reasoning to Robot Navigation",
  journal="Cybernetic Letters",
  year="2007",
  volume="5",
  number="III",
  pages="7--18",
  issn="1802-3525"
}