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Description
  • V tomto článku se zabýváme možným použitím případového usuzování pro zdokonalení navigace autonomních mobilních robotů. Popisujeme přístupy případového usuzování pro obě úrovně navigace, globální i lokální, ale hlavní pozornost je zaměřena na problém plánování cesty. Účelem plánování cesty je hledání cest mezi dvěma body bez kolizí se známými překážkami při minimalizaci délky, obtížnosti a rizika cest. Ověřené cesty jsou ukládány v případové bázi spolu s informacemi o jejich vlastnostech. Při navrhování cesty se nejprve naleznou nejpodobnější použité cesty a pak jsou adaptovány pro zadání nového problému. Když žádné dostatečně podobné cesty nejsou nalezeny, použijí se jiné metody pro hledání cest. (cs)
  • In this paper we deal with possible uses of case-based reasoning methods to improve autonomous mobile robot navigation. We describe CBR approaches to both levels of navigation, global and local, but the main attention is focused on a path planning problem. The aim of path planning is to search for paths between two points without collisions with known obstacles. At the same time, the length, difficulty and risk of paths need to be minimized. The verified paths are stored in a case base along with information about their properties. When proposing a path, first of all, the most similar already used paths are found. Then they are adapted to the new problem definition. When no sufficiently resembling paths are found, other methods are used to search for paths.
  • In this paper we deal with possible uses of case-based reasoning methods to improve autonomous mobile robot navigation. We describe CBR approaches to both levels of navigation, global and local, but the main attention is focused on a path planning problem. The aim of path planning is to search for paths between two points without collisions with known obstacles. At the same time, the length, difficulty and risk of paths need to be minimized. The verified paths are stored in a case base along with information about their properties. When proposing a path, first of all, the most similar already used paths are found. Then they are adapted to the new problem definition. When no sufficiently resembling paths are found, other methods are used to search for paths. (en)
Title
  • The Use of Case-Based Reasoning to Robot Navigation
  • The Use of Case-Based Reasoning to Robot Navigation (en)
  • Použití případového usuzování pro navigaci robotů (cs)
skos:prefLabel
  • The Use of Case-Based Reasoning to Robot Navigation
  • The Use of Case-Based Reasoning to Robot Navigation (en)
  • Použití případového usuzování pro navigaci robotů (cs)
skos:notation
  • RIV/00216305:26210/07:PU73510!RIV08-MSM-26210___
http://linked.open.../vavai/riv/strany
  • 7-18
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • Z(MSM0021630518)
http://linked.open...iv/cisloPeriodika
  • III
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
  • 456915
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26210/07:PU73510
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Mobile robot, robot navigation, path planning, case-based reasoning, case graph (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • CZ - Česká republika
http://linked.open...ontrolniKodProRIV
  • [E186CF0F25C4]
http://linked.open...i/riv/nazevZdroje
  • Cybernetic Letters
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 5
http://linked.open...iv/tvurceVysledku
  • Dvořák, Jiří
  • Hodál, Jaroslav
http://linked.open...n/vavai/riv/zamer
issn
  • 1802-3525
number of pages
http://localhost/t...ganizacniJednotka
  • 26210
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