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

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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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Počet stran výsledku

6

Strana od-do

232-237

Název nakladatele

IEEE (Institute of Electrical and Electronics Engineers)

Místo vydání

New York

Místo konání akce

Štrbské pleso

Datum konání akce

9. 6. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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