Knowledge-driven path planning for mobile robots: relative state tree
文献类型：期刊论文
| 作者 | Chen Y(陈洋); Cheng L(程磊); Wu HY(吴怀宇); Zhao XG(赵新刚) ; Han JD(韩建达)
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| 刊名 | Soft Computing
 |
| 出版日期 | 2015 |
| 卷号 | 19期号:3页码:763-773 |
| ISSN号 | 1432-7643 |
| 关键词 | Path planning Relative state tree Hierarchical tree Incremental learning Autonomous planning |
| 通讯作者 | 陈洋 |
| 产权排序 | 2 |
| 中文摘要 | Path planning is important in the field of mobile robot. However, traditional path planning techniques optimize the navigation path solely based on the models of the robot and the environments. Owing to the time-varying environment, the robot is expected to launch the replanning procedure in real-time continuously. It is slow and wastes computing resources for repeated decisions. In this study, a new perspective is adopted which utilizes a knowledge-driven approach for path planning. The concept of relative state tree is proposed to develop an incremental learning method based on a path planning knowledge base. The knowledge library, which stores a collection of the mappings from environmental information to robot decisions, can be established by offline or online learnings. As the robot plans online, its movement is guided by the optimal decision that is retrieved from the library based on the information which matches mostly the current environment. A large number of simulations are executed to verify the proposed method. When comparing to $k$-d tree, this novel method has shown to use smaller storage space and have higher efficiency. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Computer Science, Interdisciplinary Applications |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | TIME OBSTACLE AVOIDANCE ; ALGORITHM ; OPTIMIZATION |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000351409400017 |
| 源URL | [http://ir.sia.cn/handle/173321/14748]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Chen Y,Cheng L,Wu HY,et al. Knowledge-driven path planning for mobile robots: relative state tree[J]. Soft Computing,2015,19(3):763-773. |
| APA | Chen Y,Cheng L,Wu HY,Zhao XG,&Han JD.(2015).Knowledge-driven path planning for mobile robots: relative state tree.Soft Computing,19(3),763-773. |
| MLA | Chen Y,et al."Knowledge-driven path planning for mobile robots: relative state tree".Soft Computing 19.3(2015):763-773. |
入库方式： OAI收割
来源：沈阳自动化研究所
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