Publication detail
Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning
DVOŘÁK, J. KRČEK, P.
Czech title
Použití případového usuzování a grafových algoritmů pro plánování cesty mobilního robota
English title
Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning
Type
conference paper
Language
en
Original abstract
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.
Czech abstract
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.
English abstract
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.
Keywords in English
mobile robot, path planning, case-based reasoning, graph searching algorithms, nonholonomic constraints
RIV year
2006
Released
30.05.2006
Publisher
Brno University of Technology, Faculty of Mechanical Engineering
Location
Brno
ISBN
80-214-3195-4
Book
Proceedings of the 12th International Conference on Soft Computing MENDEL 2006
Edition number
1
Pages from–to
151–156
Pages count
6
BIBTEX
@inproceedings{BUT24079,
author="Jiří {Dvořák} and Petr {Krček},
title="Using Case-Based Reasoning and Graph Searching Algorithms for Mobile Robot Path Planning",
booktitle="Proceedings of the 12th International Conference on Soft Computing MENDEL 2006",
year="2006",
month="May",
pages="151--156",
publisher="Brno University of Technology, Faculty of Mechanical Engineering",
address="Brno",
isbn="80-214-3195-4"
}