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Statements

Subject Item
n2:RIV%2F00216305%3A26210%2F09%3APU83413%21RIV10-MSM-26210___
rdf:type
n7:Vysledek skos:Concept
dcterms:description
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.
dcterms:title
Path planning for nonholonomic robots Path planning for nonholonomic robots
skos:prefLabel
Path planning for nonholonomic robots Path planning for nonholonomic robots
skos:notation
RIV/00216305:26210/09:PU83413!RIV10-MSM-26210___
n3:aktivita
n6:Z
n3:aktivity
Z(MSM0021630529)
n3:dodaniDat
n12:2010
n3:domaciTvurceVysledku
n14:5337011 n14:8588678
n3:druhVysledku
n21:D
n3:duvernostUdaju
n13:S
n3:entitaPredkladatele
n20:predkladatel
n3:idSjednocenehoVysledku
332830
n3:idVysledku
RIV/00216305:26210/09:PU83413
n3:jazykVysledku
n19:eng
n3:klicovaSlova
mobile robot, nonholonomic constraints, path planning, genetic algorithms, graph search algorithms, rapidly-exploring random trees
n3:klicoveSlovo
n4:path%20planning n4:rapidly-exploring%20random%20trees n4:mobile%20robot n4:graph%20search%20algorithms n4:nonholonomic%20constraints n4:genetic%20algorithms
n3:kontrolniKodProRIV
[3B0B49332850]
n3:mistoKonaniAkce
Brno University of Technology
n3:mistoVydani
Brno
n3:nazevZdroje
Mendel 2009. 15th International Conference on Soft Computing
n3:obor
n10:JD
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:rokUplatneniVysledku
n12:2009
n3:tvurceVysledku
Krček, Petr Dvořák, Jiří
n3:typAkce
n18:WRD
n3:zahajeniAkce
2009-06-24+02:00
n3:zamer
n16:MSM0021630529
s:numberOfPages
8
n5:hasPublisher
Vysoké učení technické v Brně
n11:isbn
978-80-214-3884-2
n17:organizacniJednotka
26210