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Description
  • V tomto příspěvku se zabýváme plánováním cesty mobilního robota v částečně známém dynamickém prostředí modelovaném dvoudimenzionální mřížkou, ve které jsou zadány statické překážky a nebezpečné oblasti. Cílem plánování cesty robota je hledání cesty z počáteční do cílové pozice bez kolizí se známými překážkami při minimalizaci délky a obtížnosti (rizika) cesty. Navrhujeme metody plánování cesty založené na použití případového grafu, což je struktura složená ze segmentů již použitých cest. Tyto metody se pokoušejí konstruovat novou cestu kombinováním cest v případovém grafu s cestami nalezenými algoritmem A*. Prezentujeme výsledky srovnání navržených metod a metod založených pouze na použití Dijkstrova algoritmu a algoritmu A*. (cs)
  • In this paper, we deal with mobile robot path planning in a partially known dynamic environment modelled by a two-dimensional grid in which known static obstacles and hazardous areas are defined. The aim of the path planning is searching for a path from a start to a goal position without collisions with known obstacles minimizing length and difficulty (risk) of the path. We propose path planning methods based on using a case graph, which is a structure composed of segments of already used paths. These mmethods try to construct a new path combining paths in the case graph with paths found by the A* algorithm. We present results of comparing proposed methods and methods based only on using Dijkstra’s algorithm and the A* algorithm.
  • In this paper, we deal with mobile robot path planning in a partially known dynamic environment modelled by a two-dimensional grid in which known static obstacles and hazardous areas are defined. The aim of the path planning is searching for a path from a start to a goal position without collisions with known obstacles minimizing length and difficulty (risk) of the path. We propose path planning methods based on using a case graph, which is a structure composed of segments of already used paths. These mmethods try to construct a new path combining paths in the case graph with paths found by the A* algorithm. We present results of comparing proposed methods and methods based only on using Dijkstra’s algorithm and the A* algorithm. (en)
Title
  • Mobile Robot Path Planning by Means of Case-Based Reasoning
  • Plánování cesty mobilního robota pomocí případového usuzování (cs)
  • Mobile Robot Path Planning by Means of Case-Based Reasoning (en)
skos:prefLabel
  • Mobile Robot Path Planning by Means of Case-Based Reasoning
  • Plánování cesty mobilního robota pomocí případového usuzování (cs)
  • Mobile Robot Path Planning by Means of Case-Based Reasoning (en)
skos:notation
  • RIV/00216305:26210/05:PU52182!RIV06-MSM-26210___
http://linked.open.../vavai/riv/strany
  • 219-226
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM0021630518)
http://linked.open...iv/cisloPeriodika
  • A1
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 530452
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/05:PU52182
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Mobile robot, path planning, case-based reasoning, graph searching algorithms (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • CZ - Česká republika
http://linked.open...ontrolniKodProRIV
  • [FBB4DE1A82BC]
http://linked.open...i/riv/nazevZdroje
  • Inženýrská mechanika
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 12
http://linked.open...iv/tvurceVysledku
  • Dvořák, Jiří
  • Krček, Petr
http://linked.open...n/vavai/riv/zamer
issn
  • 1210-2717
number of pages
http://localhost/t...ganizacniJednotka
  • 26210
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