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Determination of Optimal Local Path for Mobile Robot
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SYSNO ASEP 0477729 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Determination of Optimal Local Path for Mobile Robot Author(s) Krejsa, Jiří (UT-L) RID, ORCID
Věchet, Stanislav (UT-L) RID, ORCIDNumber of authors 2 Source Title Advances in Intelligent Systems and Computing. - Switzerland : Springer, 2017 / Březina T. ; Jabloňski R. - ISSN 2194-5357 - ISBN 978-331965959-6 Pages s. 637-643 Number of pages 8 s. Publication form Print - P Action International Conference on Mechatronics /12./ Event date 06.09.2017 - 08.09.2017 VEvent location Brno Country CZ - Czech Republic Event type WRD Language eng - English Country CH - Switzerland Keywords mobile robot ; path planning ; optimization Subject RIV JD - Computer Applications, Robotics OECD category Robotics and automatic control Institutional support UT-L - RVO:61388998 EID SCOPUS 85029219705 DOI https://doi.org/10.1007/978-3-319-65960-2 Annotation The paper presents the method of finding locally optimal path with respect to the safety of the mobile robot with non-holonomic constraints. The path is represented by the polyline and circular segments. Initial path is found in the geometrical centers of the corridors to pass through and is optimized using evolutionary algorithm. The complexity of path description can be sequentially increased, allowing to further improve the quality of the path while optimization can be interrupted any time. Minimal distance to the obstacles is taken as optimality criterion. Workplace Institute of Thermomechanics Contact Marie Kajprová, kajprova@it.cas.cz, Tel.: 266 053 154 ; Jana Lahovská, jaja@it.cas.cz, Tel.: 266 053 823 Year of Publishing 2018
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