Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning.
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F06%3APU66925" target="_blank" >RIV/00216305:26210/06:PU66925 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning.
Original language description
The purpose of the robot path planning is to find a path from a robot start configuration to a goal configuration without collisions with known obstacles minimizing such criteria as length, difficulty and risk of the path. We consider a nonholonomic robot moving in a dynamic partially known two-dimensional space with polygonal obstacles We propose path planning methods combining case-based reasoning with graph searching methods in a rectangular grid and rapidly exploring random trees in a continuous space. Proposed methods are based on a case graph, which is a structure composed of segments of already used paths. Graph searching algorithms for the case graph and the grid are modified with respect to nonholonomic constraints.
Czech name
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Czech description
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Classification
Type
C - Chapter in a specialist book
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2006
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Book/collection name
Simulation Modelling of Mechatronic Systems II
ISBN
80-214-3341-8
Number of pages of the result
7
Pages from-to
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Number of pages of the book
278
Publisher name
Brno University of Technology
Place of publication
Brno
UT code for WoS chapter
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