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  • In this paper, we deal with nonholonomic mobile robot path planning in a two-dimensional continuous space in which known static polygonal obstacles are defined. 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 holonomic robot by means of a genetic algorithm and subsequent adapting this path to nonholonomic constraints by using a modified A* algorithm. We compare this approach with other methods for path planning of nonholonomic robots.
  • In this paper, we deal with nonholonomic mobile robot path planning in a two-dimensional continuous space in which known static polygonal obstacles are defined. 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 holonomic robot by means of a genetic algorithm and subsequent adapting this path to nonholonomic constraints by using a modified A* algorithm. We compare this approach with other methods for path planning of nonholonomic robots. (en)
Title
  • Path planning for nonholonomic robots
  • Path planning for nonholonomic robots (en)
skos:prefLabel
  • Path planning for nonholonomic robots
  • Path planning for nonholonomic robots (en)
skos:notation
  • RIV/00216305:26210/09:PU83413!RIV10-MSM-26210___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM0021630529)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
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http://linked.open...iv/duvernostUdaju
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  • 332830
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/09:PU83413
http://linked.open...riv/jazykVysledku
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  • mobile robot, nonholonomic constraints, path planning, genetic algorithms, graph search algorithms, rapidly-exploring random trees (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [3B0B49332850]
http://linked.open...v/mistoKonaniAkce
  • Brno University of Technology
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  • Brno
http://linked.open...i/riv/nazevZdroje
  • Mendel 2009. 15th International Conference on Soft Computing
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Dvořák, Jiří
  • Krček, Petr
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
http://linked.open...n/vavai/riv/zamer
number of pages
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  • Vysoké učení technické v Brně
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  • 978-80-214-3884-2
http://localhost/t...ganizacniJednotka
  • 26210
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