The time optimal path-planning of mobile robots motion respecting the time cost of rotation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F15%3A39899509" target="_blank" >RIV/00216275:25530/15:39899509 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
The time optimal path-planning of mobile robots motion respecting the time cost of rotation
Original language description
The paper describes the time optimal path-planning method designed for differential wheeled mobile robots operating on flat ground. The robots are used as support teaching tool by the path-planning problematic exercising. Whereas the exercise is designedfor students without any prior knowledge about the path-planning, the graph version of the A* algorithm was chosen as the appropriate algorithm for the problematic introduction. The students are supposed to exercise the path-planning using the evaluation functions of various difficulties. The most complex of them is the evaluation function reflecting both the transportation time and the time required for a robot rotation. Its mathematical formulation is described in the paper and its functionality is shown in three case studies where the shortest time-path between two locations in a labyrinth is required to be found.
Czech name
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Czech description
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Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Process Control 2015: Proceedings of the 20th International Conference
ISBN
978-1-4673-6627-4
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
232-237
Publisher name
IEEE (Institute of Electrical and Electronics Engineers)
Place of publication
New York
Event location
Štrbské pleso
Event date
Jun 9, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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