GA-Based Path Planning for Nonholonomic Mobile Robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F11%3APU94726" target="_blank" >RIV/00216305:26210/11:PU94726 - 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
GA-Based Path Planning for Nonholonomic Mobile Robots
Original language description
In this paper, we deal with nonholonomic mobile robot path planning in a two-dimensional continuous space with known static polygonal obstacles. 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 simplified nonholonomic robot by means of a genetic algorithm and subsequent adapting this path to remaining nonholonomic constraints by using a modified bi-directional A* algorithm. We compare this approach with methods based on A* and on rapidly exploring random trees.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
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)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
MENDEL 2011 - 17th International Conference on Soft Computing
ISBN
978-80-214-4302-0
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
552-559
Publisher name
Brno University of Technology
Place of publication
Brno
Event location
Brno University of Technology
Event date
Jun 15, 2011
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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