Publication detail

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

DVOŘÁK, J. KRČEK, P.

Original Title

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

Type

book chapter

Language

English

Original Abstract

The purpose of the robot path planning is to find a path from a robot start configuration to a goal configuration without collisions with known obstacles minimizing such criteria as length, difficulty and risk of the path. We consider a nonholonomic robot moving in a dynamic partially known two-dimensional space with polygonal obstacles We propose path planning methods combining case-based reasoning with graph searching methods in a rectangular grid and rapidly exploring random trees in a continuous space. Proposed methods are based on a case graph, which is a structure composed of segments of already used paths. Graph searching algorithms for the case graph and the grid are modified with respect to nonholonomic constraints.

Keywords

Nonholonmomic mobile robot; path planning; case-based reasoning; graph searching algorithms; rapidly exploring random trees.

Authors

DVOŘÁK, J.; KRČEK, P.

RIV year

2006

Released

15. 12. 2006

Publisher

Brno University of Technology

Location

Brno

ISBN

80-214-3341-8

Book

Simulation Modelling of Mechatronic Systems II

Edition

Mechatronics

Edition number

1

Pages from

131

Pages to

137

Pages count

7

BibTex

@inbook{BUT55116,
  author="Jiří {Dvořák} and Petr {Krček}",
  title="Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning.",
  booktitle="Simulation Modelling of Mechatronic Systems II",
  year="2006",
  publisher="Brno University of Technology",
  address="Brno",
  series="Mechatronics",
  edition="1",
  pages="131--137",
  isbn="80-214-3341-8"
}