Publication result 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.

English Title

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

Type

Chapter in a book

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.

English 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.

Key words in English

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

Authors

DVOŘÁK, J.; KRČEK, P.

RIV year

2010

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

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"
}