Publication detail

Mobile Robot Path Planning by Means of Case-Based Reasoning

DVOŘÁK, J., KRČEK, P.

Original Title

Mobile Robot Path Planning by Means of Case-Based Reasoning

Type

journal article - other

Language

English

Original Abstract

In this paper, we deal with mobile robot path planning in a partially known dynamic environment modelled by 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 and difficulty (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.

Keywords

Mobile robot, path planning, case-based reasoning, graph searching algorithms

Authors

DVOŘÁK, J., KRČEK, P.

RIV year

2005

Released

20. 9. 2005

ISBN

1210-2717

Periodical

Inženýrská mechanika - Engineering Mechanics

Year of study

12

Number

A1

State

Czech Republic

Pages from

219

Pages to

226

Pages count

8

BibTex

@article{BUT45794,
  author="Jiří {Dvořák} and Petr {Krček}",
  title="Mobile Robot Path Planning by Means of Case-Based Reasoning",
  journal="Inženýrská mechanika - Engineering Mechanics",
  year="2005",
  volume="12",
  number="A1",
  pages="8",
  issn="1210-2717"
}