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A low-risk approach to mobile robot path planning
Chalmers University of Technology, Department of Computer Engineering, Gothenburg, Sweden.
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).ORCID-id: 0000-0001-6625-6533
1998 (engelsk)Inngår i: Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349, Vol. 1416, s. 132-141Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This paper presents a self-organizing approach for mobile robot path planning problems in dynamic environments by using case-based reasoning together with a more conventional method of grid-map based path planning. The map-based path planner is used to suggest new innovative solutions for a particular path planning problem. The case-base is used to store the paths and evaluate their traversability. While planning the route those paths are preferred which, according to former experience, are least risky. As the environment changes, the exploration as well as the evaluation of the paths will allow the system to self-organize by forming a set of low-risk paths that are safest to follow. The experiments in a simulated environment show that the robot is able to adapt in a dynamic environment and learns to use the least risky paths. © Springer-Verlag Berlin Heidelberg 1998.

sted, utgiver, år, opplag, sider
Heidelberg: Springer Berlin/Heidelberg, 1998. Vol. 1416, s. 132-141
Emneord [en]
Artificial intelligence, Case based reasoning, Expert systems, Mobile robots, Robot programming, Robots, Conventional methods, Dynamic environments, Environment change, Innovative solutions, Path planning problems, Robot path-planning, Self-organizing approaches, Simulated environment, Motion planning
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Identifikatorer
URN: urn:nbn:se:hh:diva-37647DOI: 10.1007/3-540-64574-8_399Scopus ID: 2-s2.0-84958052855OAI: oai:DiVA.org:hh-37647DiVA, id: diva2:1234018
Konferanse
11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems (IEA-1998-AIE), Benicassim, Spain, 1-4 June, 1998
Tilgjengelig fra: 2018-07-20 Laget: 2018-07-20 Sist oppdatert: 2018-07-20bibliografisk kontrollert

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