Case-Based Reasoning Approaches to Robot Navigation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F03%3APU40931" target="_blank" >RIV/00216305:26210/03:PU40931 - 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
Case-Based Reasoning Approaches to Robot Navigation
Original language description
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 ennvironment 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.).
Czech name
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Czech description
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Publication year
2003
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 9th International Conference on Soft Computing MENDEL 2003
ISBN
80-214-2411-7
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
326-333
Publisher name
Brno University of Technology, Faculty of Mechanical Engineering
Place of publication
Brno
Event location
Brno
Event date
Jun 4, 2003
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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