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Detail publikace
ŠEDA, M., DVOŘÁK, J.
Originální název
Robot Navigation Using Genetic Algorithm and Case-Based Reasoning
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
The aim of the paper is to propose an integration of a genetic algorithm and case-based reasoning in robot motion planning in a partially known dynamic environment. The goal of the planning is to help find a path from a start to a goal position without collisions with known obstacles minimizing length and difficulty of the path. The environment is modelled by a grid in which known static obstacles or unattainable positions are defined. The robot motion is reduced in horizontal, vertical and diagonal directions. The paths realized are stored in a base of cases along with the degree of their traversability. When planning a path, first this base is searched so as to find the cases that are most similar to the given case and then they are adapted to it. If similar cases are not found in the base or adapted solutions are not good enough, a new path is searched for by a genetic algorithm.
Klíčová slova v angličtině
motion planning, genetic algorithm, case-based reasoning
Autoři
Rok RIV
2003
Vydáno
1. 5. 2003
Nakladatel
Association for Engineering Mechanics
Místo
Svratka
ISBN
80-86246-18-3
Kniha
Book of Extended Abstracts of the National Conference with International Participation Engineering Mechanics 2003
Strany od
328
Strany do
329
Strany počet
2
BibTex
@inproceedings{BUT13226, author="Miloš {Šeda} and Jiří {Dvořák}", title="Robot Navigation Using Genetic Algorithm and Case-Based Reasoning", booktitle="Book of Extended Abstracts of the National Conference with International Participation Engineering Mechanics 2003", year="2003", pages="2", publisher="Association for Engineering Mechanics", address="Svratka", isbn="80-86246-18-3" }