Publication detail

Using Case-Based Reasoning for Mobile Robot Path Planning

HODÁL, J. DVOŘÁK, J.

Original Title

Using Case-Based Reasoning for Mobile Robot Path Planning

Type

journal article - other

Language

English

Original Abstract

The mobile robot path planning involves finding the shortest and least difficult path from a start to a goal position in a given environment without collisions with known obstacles. The main idea of case-based reasoning (CBR) is a presumption that similar tasks probably also have similar solutions. New tasks are solved by adapting old proved solutions of similar tasks to new conditions. Tasks and their solutions (cases) are stored in a case base. The focal point of this paper is the proposition of a path planning method based on CBR combined with graph algorithms in the environment represented by a rectangular grid. On the basis of the experimental results obtained, it is possible to say that case-based reasoning can significantly save computation costs, particularly in large environments.

Keywords

Mobile robot; path planning; graph algorithms; case-based reasoning; case graph.

Authors

HODÁL, J.; DVOŘÁK, J.

RIV year

2008

Released

20. 8. 2008

ISBN

1802-1484

Periodical

Engineering Mechanics

Year of study

15

Number

3

State

Czech Republic

Pages from

181

Pages to

191

Pages count

11

BibTex

@article{BUT48066,
  author="Jaroslav {Hodál} and Jiří {Dvořák}",
  title="Using Case-Based Reasoning for Mobile Robot Path Planning",
  journal="Engineering Mechanics",
  year="2008",
  volume="15",
  number="3",
  pages="181--191",
  issn="1802-1484"
}