Detail publikačního výsledku

Path planning for nonholonomic robots

DVOŘÁK, J.; KRČEK, P.

Originální název

Path planning for nonholonomic robots

Anglický název

Path planning for nonholonomic robots

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

DVOŘÁK, J.; KRČEK, P.

Rok RIV

2010

Vydáno

17.06.2009

Nakladatel

Brno University of Technology

Místo

Brno

ISBN

978-80-214-3884-2

Kniha

Mendel 2009. 15th International Conference on Soft Computing

Strany od

336

Strany do

343

Strany počet

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"
}