Engineering Mechanics

International Conference

Proceedings Vol. 12 (2006)


May 15 – 18, 2006, Svratka, Czech Republic
Editors: Jiří Náprstek and Cyril Fischer

Copyright © 2006 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, Prague

ISBN 80-86246-27-2 (printed, Extended Abstracts)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

Mobile robot path planning by means of case-based reasoning and rapidly-exploring random trees
P. Krček, J. Dvořák
pages 180 - +9p., full text

The aim of the robot path planning is searching for a path from a robot start configuration to a goal configuration without collisions with known obstacles minimizing weight of the path. We consider a nonholonomic robot moving in a two-dimensional continuous space with known polygonal obstacles. When planning a path by Case-Based Reasoning, the most similar cases (already used paths or their parts) are searched for to be subsequently adapted to the new problem. Rapidly-exploring Random Trees are used to find the missing parts of the constructed paths or new paths if similar cases are not found or adapted solutions are not good enough.

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Text and facts may be copied and used freely, but credit should be given to these Proceedings.

All papers were reviewed by members of the scientific committee.

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