Přístupnostní navigace
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Detail publikace
DVOŘÁK, J., HODÁL, J.
Originální název
Case-Based Reasoning Approaches to Robot Navigation
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
In this paper we deal with possibilities of using case-based reasoning methods for improvement of autonomous robot navigation in a partially known dynamic environment. We describe CBR approaches to both levels of navigation, global and local, but the main attention is focused on a path planning problem. The aim is to help with the search of paths between two points without collisions with known and unknown obstacles. At the same time, minimizing the length, difficulty and risk of paths is needed. The environment can be modeled by a two-dimensional grid or as a continuous space in which known obstacles and unattainable areas are defined. Verified paths are stored in a case base along with information about its properties. When proposing a path, first of all, the most similar already used paths are found. Then they are adapted to the new problem. When no sufficiently resembling paths are found, we use other methods for searching for the path (local search, genetic algorithms, etc.).
Klíčová slova v angličtině
case-based reasoning, robot navigation, path planning
Autoři
Rok RIV
2003
Vydáno
1. 6. 2003
Nakladatel
Brno University of Technology, Faculty of Mechanical Engineering
Místo
Brno
ISBN
80-214-2411-7
Kniha
Proceedings of the 9th International Conference on Soft Computing MENDEL 2003
Strany od
326
Strany do
333
Strany počet
8
BibTex
@inproceedings{BUT14079, author="Jiří {Dvořák} and Jaroslav {Hodál}", title="Case-Based Reasoning Approaches to Robot Navigation", booktitle="Proceedings of the 9th International Conference on Soft Computing MENDEL 2003", year="2003", pages="8", publisher="Brno University of Technology, Faculty of Mechanical Engineering", address="Brno", isbn="80-214-2411-7" }