Robot Navigation Using Genetic Algorithm and Case-Based Reasoning

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

Robot Navigation Using Genetic Algorithm and Case-Based Reasoning

Popis výsledku v původním jazyce

The aim of the paper is to propose an integration of a genetic algorithm and case-based reasoning in robot motion planning in a partially known dynamic environment. The goal of the planning is to help find a path from a start to a goal position without collisions with known obstacles minimizing length and difficulty of the path. The environment is modelled by a grid in which known static obstacles or unattainable positions are defined. The robot motion is reduced in horizontal, vertical and diagonal dirrections. The paths realized are stored in a base of cases along with the degree of their traversability. When planning a path, first this base is searched so as to find the cases that are most similar to the given case and then they are adapted to it. If similar cases are not found in the base or adapted solutions are not good enough, a new path is searched for by a genetic algorithm.

Název v anglickém jazyce

Robot Navigation Using Genetic Algorithm and Case-Based Reasoning

Popis výsledku anglicky

The aim of the paper is to propose an integration of a genetic algorithm and case-based reasoning in robot motion planning in a partially known dynamic environment. The goal of the planning is to help find a path from a start to a goal position without collisions with known obstacles minimizing length and difficulty of the path. The environment is modelled by a grid in which known static obstacles or unattainable positions are defined. The robot motion is reduced in horizontal, vertical and diagonal dirrections. The paths realized are stored in a base of cases along with the degree of their traversability. When planning a path, first this base is searched so as to find the cases that are most similar to the given case and then they are adapted to it. If similar cases are not found in the base or adapted solutions are not good enough, a new path is searched for by a genetic algorithm.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2003

Kód důvěrnosti údajů

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

Název statě ve sborníku

Book of Extended Abstracts of the National Conference with International Participation Engineering Mechanics 2003

ISBN

80-86246-18-3

ISSN

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e-ISSN

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Počet stran výsledku

2

Strana od-do

328-329

Název nakladatele

Association for Engineering Mechanics

Místo vydání

Svratka

Místo konání akce

Svratka

Datum konání akce

12. 5. 2003

Typ akce podle státní příslušnosti

CST - Celostátní akce

Kód UT WoS článku

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