| dc.contributor.author |
Škrabánek Pavel
|
|
| dc.contributor.author |
Mariška Martin
|
|
| dc.contributor.author |
Doležel Petr
|
|
| dc.date.accessioned |
2016-11-14T08:19:40Z |
|
| dc.date.available |
2016-11-14T08:19:40Z |
|
| dc.date.issued |
2015 |
|
| dc.identifier.isbn |
978-1-4673-6627-4 |
eng |
| dc.identifier.issn |
|
|
| dc.identifier.uri |
http://hdl.handle.net/10195/66487 |
|
| dc.description.abstract |
The paper describes the time optimal path-planning method designed for differential wheeled mobile robots operating on flat ground. The robots are used as support teaching tool by the path-planning problematic exercising. Whereas the exercise is designed for students without any prior knowledge about the path-planning, the graph version of the A* algorithm was chosen as the appropriate algorithm for the problematic introduction. The students are supposed to exercise the path-planning using the evaluation functions of various difficulties. The most complex of them is the evaluation function reflecting both the transportation time and the time required for a robot rotation. Its mathematical formulation is described in the paper and its functionality is shown in three case studies where the shortest time-path between two locations in a labyrinth is required to be found. |
eng |
| dc.format |
p. 232-237 |
eng |
| dc.language.iso |
eng |
|
| dc.publisher |
IEEE (Institute of Electrical and Electronics Engineers) |
eng |
| dc.relation.ispartof |
Process Control 2015: Proceedings of the 20th International Conference |
eng |
| dc.rights |
Práce není přístupná |
eng |
| dc.subject |
mobile robot, path-planning, A* algorithm |
eng |
| dc.subject |
mobilní robot, plánování pohybu, algoritmus A* |
cze |
| dc.title |
The time optimal path-planning of mobile robots motion respecting the time cost of rotation |
eng |
| dc.title.alternative |
Plánování pohybu s pohledu optimalizace času se zohledněním časové náročnosti rotace |
cze |
| dc.type |
ConferenceObject |
eng |
| dc.description.abstract-translated |
Článek popisuje plánování pohybu navržené pro mobilní roboty s diferenciálním pohonem, kde optimálnost cesty je posuzována s ohledem na čas potřebný k jejímu zdolání. Kritérium navržené v této práci umožňuje zohlednit časovou náročnost otáčení. Vlastní plánování pohybu je realizováno pomocí algoritmu A*. Funkčnost navrženého řešení je demonstrována na třech příkladech. |
cze |
| dc.event |
20th International Conference on Process Control 2015 (09.06.2015 - 12.06.2015) |
eng |
| dc.peerreviewed |
yes |
eng |
| dc.publicationstatus |
postprint |
eng |
| dc.project.ID |
SGSFEI_2015006/Využití algoritmů soft computing v praxi |
eng |
| dc.identifier.wos |
000380509500040 |
|
| dc.identifier.obd |
39874400 |
|
