Nonholonomic Mobile Robot Path Planning by Means of 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

Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning.

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Nonholonomic Mobile Robot Path Planning by Means of Case-Based Reasoning.

Popis výsledku anglicky

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.

Druh

C - Kapitola v odborné knize

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

2006

Kód důvěrnosti údajů

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

Název knihy nebo sborníku

Simulation Modelling of Mechatronic Systems II

ISBN

80-214-3341-8

Počet stran výsledku

7

Strana od-do

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Počet stran knihy

278

Název nakladatele

Brno University of Technology

Místo vydání

Brno

Kód UT WoS kapitoly

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