Název: Finding optimal local path for mobile robot with kinematic constraints: How to find the safest path for nonholonomic robot
Autoři: Krejsa, Jiří ; Věchet, Stanislav
Typ dokumentu: Příspěvky z konference
Konference/Akce: International Conference on Mechatronics – Mechatronika (ME) 2016 /17./, Praha (CZ), 20161207
Rok: 2016
Jazyk: eng
Abstrakt: The paper deals with the optimization of local path for the mobile robot, whereas the safety of the route is the major criterion. The robot equipped with differential chassis with kinematic constraints is considered for the task. The optimization is based on genetic algorithm (GA), optimizing the polyline representation of the path. The core idea of the method presented is to sequentially increase the number of key points in the path during the optimization. This way the computational expenses are kept reasonable and resulting path quickly converges to the optimal one, with respect to the actual number of parameters to be optimized. The cost function is defined as the lowest distance from the obstacle along the path. Sequential refinement of key path proved to speed up the search.
Klíčová slova: genetic algorithm; optimization; path planning
Zdrojový dokument: Proceedings of the 2016 17th International Conference on Mechatronics – Mechatronika (ME), ISBN 978-80-01-05882-4

Instituce: Ústav termomechaniky AV ČR (web)
Informace o dostupnosti dokumentu: Dokument je dostupný v příslušném ústavu Akademie věd ČR.
Původní záznam: http://hdl.handle.net/11104/0267341

Trvalý odkaz NUŠL: http://www.nusl.cz/ntk/nusl-262605


Záznam je zařazen do těchto sbírek:
Věda a výzkum > AV ČR > Ústav termomechaniky
Konferenční materiály > Příspěvky z konference