Detail publikace

Path planning for nonholonomic robots

DVOŘÁK, J. KRČEK, P.

Originální název

Path planning for nonholonomic robots

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

In this paper, we deal with nonholonomic mobile robot path planning in a two-dimensional continuous space in which known static polygonal obstacles are defined. This problem involves finding a collision-free path from a start to a goal position, satisfying kinematic constraints and minimizing an evaluation function. The proposed approach consists of finding a path for a holonomic robot by means of a genetic algorithm and subsequent adapting this path to nonholonomic constraints by using a modified A* algorithm. We compare this approach with other methods for path planning of nonholonomic robots.

Klíčová slova

mobile robot; nonholonomic constraints; path planning; genetic algorithms; graph search algorithms; rapidly-exploring random trees

Autoři

DVOŘÁK, J.; KRČEK, P.

Rok RIV

2009

Vydáno

17. 6. 2009

Nakladatel

Brno University of Technology

Místo

Brno

ISBN

978-80-214-3884-2

Kniha

Mendel 2009. 15th International Conference on Soft Computing

Strany od

336

Strany do

343

Strany počet

8

BibTex

@inproceedings{BUT33524,
  author="Jiří {Dvořák} and Petr {Krček}",
  title="Path planning for nonholonomic robots",
  booktitle="Mendel 2009. 15th International Conference on Soft Computing",
  year="2009",
  pages="336--343",
  publisher="Brno University of Technology",
  address="Brno",
  isbn="978-80-214-3884-2"
}