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Statements

Subject Item
n2:RIV%2F00216305%3A26210%2F03%3APU40469%21RIV%2F2004%2FMSM%2F262104%2FN
rdf:type
skos:Concept n19:Vysledek
dcterms:description
The aim of the paper is to propose an integration of a genetic algorithm and case-based reasoning in robot motion planning in a partially known dynamic environment. The goal of the planning is to help find a path from a start to a goal position without collisions with known obstacles minimizing length and difficulty of the path. The environment is modelled by a grid in which known static obstacles or unattainable positions are defined. The robot motion is reduced in horizontal, vertical and diagonal dirrections. The paths realized are stored in a base of cases along with the degree of their traversability. When planning a path, first this base is searched so as to find the cases that are most similar to the given case and then they are adapted to it. If similar cases are not found in the base or adapted solutions are not good enough, a new path is searched for by a genetic algorithm. The aim of the paper is to propose an integration of a genetic algorithm and case-based reasoning in robot motion planning in a partially known dynamic environment. The goal of the planning is to help find a path from a start to a goal position without collisions with known obstacles minimizing length and difficulty of the path. The environment is modelled by a grid in which known static obstacles or unattainable positions are defined. The robot motion is reduced in horizontal, vertical and diagonal dirrections. The paths realized are stored in a base of cases along with the degree of their traversability. When planning a path, first this base is searched so as to find the cases that are most similar to the given case and then they are adapted to it. If similar cases are not found in the base or adapted solutions are not good enough, a new path is searched for by a genetic algorithm.
dcterms:title
Robot Navigation Using Genetic Algorithm and Case-Based Reasoning Robot Navigation Using Genetic Algorithm and Case-Based Reasoning
skos:prefLabel
Robot Navigation Using Genetic Algorithm and Case-Based Reasoning Robot Navigation Using Genetic Algorithm and Case-Based Reasoning
skos:notation
RIV/00216305:26210/03:PU40469!RIV/2004/MSM/262104/N
n3:strany
328-329
n3:aktivita
n18:Z
n3:aktivity
Z(MSM 261100009), Z(MSM 262100024)
n3:dodaniDat
n11:2004
n3:domaciTvurceVysledku
n14:1920863 n14:5337011
n3:druhVysledku
n13:D
n3:duvernostUdaju
n20:S
n3:entitaPredkladatele
n10:predkladatel
n3:idSjednocenehoVysledku
625795
n3:idVysledku
RIV/00216305:26210/03:PU40469
n3:jazykVysledku
n12:eng
n3:klicovaSlova
motion planning, genetic algorithm, case-based reasoning
n3:klicoveSlovo
n9:genetic%20algorithm n9:motion%20planning n9:case-based%20reasoning
n3:kontrolniKodProRIV
[3FCE3DEF3466]
n3:mistoKonaniAkce
Svratka
n3:mistoVydani
Svratka
n3:nazevZdroje
Book of Extended Abstracts of the National Conference with International Participation Engineering Mechanics 2003
n3:obor
n4:JD
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:pocetUcastnikuAkce
0
n3:pocetZahranicnichUcastnikuAkce
0
n3:rokUplatneniVysledku
n11:2003
n3:tvurceVysledku
Dvořák, Jiří Šeda, Miloš
n3:typAkce
n16:CST
n3:zahajeniAkce
2003-05-12+02:00
n3:zamer
n15:MSM%20262100024 n15:MSM%20261100009
s:numberOfPages
2
n5:hasPublisher
Association for Engineering Mechanics
n21:isbn
80-86246-18-3
n17:organizacniJednotka
26210