Publication result detail

Path planning for nonholonomic robots

DVOŘÁK, J.; KRČEK, P.

Original Title

Path planning for nonholonomic robots

English Title

Path planning for nonholonomic robots

Type

Paper in proceedings (conference paper)

Original Abstract

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.

English abstract

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.

Keywords

mobile robot; nonholonomic constraints; path planning; genetic algorithms; graph search algorithms; rapidly-exploring random trees

Key words in English

mobile robot; nonholonomic constraints; path planning; genetic algorithms; graph search algorithms; rapidly-exploring random trees

Authors

DVOŘÁK, J.; KRČEK, P.

RIV year

2010

Released

17.06.2009

Publisher

Brno University of Technology

Location

Brno

ISBN

978-80-214-3884-2

Book

Mendel 2009. 15th International Conference on Soft Computing

Pages from

336

Pages to

343

Pages count

8

BibTex

@inproceedings{BUT33524,
  author="Jiří {Dvořák} and Petr {Krček}",
  title="Path planning for nonholonomic robots",
  booktitle="Mendel 2009. 15th International Conference on Soft Computing",
  year="2009",
  pages="336--343",
  publisher="Brno University of Technology",
  address="Brno",
  isbn="978-80-214-3884-2"
}