About: Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning     Goto   Sponge   NotDistinct   Permalink

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  • V tomto příspěvku se zabýváme plánováním cesty mobilního robota ve dvoudimenzionální mřížce, ve které jsou zadány známé statické překážky a nebezpečné oblasti. Cílem plánování cesty je hledání cesty z počáteční do cílové pozice bez kolizí se známými překážkami při minimalizaci délky, obtížnosti a 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*. Navrhujeme také modifikace těchto algoritmů pro neholonomní roboty. (cs)
  • In this paper, we deal with mobile robot path planning in 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, difficulty and 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 methods 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. We also propose modifications of these algorithms for nonholonomic robots.
  • In this paper, we deal with mobile robot path planning in 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, difficulty and 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 methods 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. We also propose modifications of these algorithms for nonholonomic robots. (en)
Title
  • Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning
  • Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning (en)
  • Použití případového usuzování a grafových algoritmů pro plánování cesty mobilního robota (cs)
skos:prefLabel
  • Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning
  • Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning (en)
  • Použití případového usuzování a grafových algoritmů pro plánování cesty mobilního robota (cs)
skos:notation
  • RIV/00216305:26210/06:PU63096!RIV07-MSM-26210___
http://linked.open.../vavai/riv/strany
  • 151-156
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM0021630518)
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
  • 505352
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/06:PU63096
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • mobile robot, path planning, case-based reasoning, graph searching algorithms, nonholonomic constraints (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [142CB2C3A2D0]
http://linked.open...v/mistoKonaniAkce
  • Brno University of Technology
http://linked.open...i/riv/mistoVydani
  • Brno
http://linked.open...i/riv/nazevZdroje
  • Proceedings of the 12th International Conference on Soft Computing MENDEL 2006
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
http://purl.org/ne...btex#hasPublisher
  • Vysoké učení technické v Brně. Fakulta strojního inženýrství
https://schema.org/isbn
  • 80-214-3195-4
http://localhost/t...ganizacniJednotka
  • 26210
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