English
Polski
REPORT A PROBLEM
LINKS
Resource link (short)
http://zasobynauki.pl/zasoby/82778Resource link (repository)
https://id.e-science.pl/records/82778Resource metadata
| Title |
A memetic algorithm for the global path planning with movement constraints for a non-holonomic mobile robot (PD-2013-01) |
|---|---|
| Persons |
Authors:
Piotr Bigaj
Partner: Systems Research Institute Polish Academy of Sciences, Warsaw |
| Description |
This dissertation presents a new application of a memetic algorithm for the solution of the GPP problem for a general non-holonomic mobile robot. The proposed approach is then implemented for the IBIS mobile robot commercially manufactured by Research Institute for Automation and Measurements (PIAP). This specific case adds many additional constraints to the GPP problem that are related, for instance, to technical limitations of the IBIS robot with respect to dynamics, maximum speed and acceleration, turning radius, battery capacity, etc. We present a comprehensive set of numerical results for the real life GPP problem, in particular a comparison with the results obtained by using some widely employed standard methods, notably A*. The results obtained clearly indicate that the memetic algorithm proposed yields very good results, in virtually all cases almost as good as those obtained by A*, which is known for its effectiveness and efficiency, and is hence widely used. The computations by using the proposed memetic algorithm are much easier to implement as it is often the case with population based search and optimization methods. Moreover, a high potential of the method proposed in view of its ease of parallelization, and a possibility of implementation in new computational settings, notably using the GPUs, is very promising. (English) |
| Keywords | "nieholonomiczny robot mobilny"@pl, "global path planning"@en, "memetic algorithm"@en, "algorytm memetyczny"@pl, "non-holomic mobile robot"@en, "planowanie globalnej ścieżki"@pl |
| Classification |
Resource type:
thesis Scientific discipline: Dziedzina nauk ścisłych i przyrodniczych / informatyka (2018) Destination group: pupils, students, scientists Harmful content: No |
| Characteristics |
Place of creation: Warszawa
Creation time: 2012 Number of pages: 167 Supervisor: Janusz Aleksander Kacprzyk Resource language: English |
| License | CC BY-SA 4.0 |
| Technical information |
Submitter: Anna Wasilewska Availability date: 13-01-2023 |
| Collections | Kolekcja Instytutu Badań Systemowych PAN w Warszawie |
Citation
Piotr Bigaj. A memetic algorithm for the global path planning with movement constraints for a non-holonomic mobile robot (PD-2013-01). [thesis] Available in Atlas of Open Science Resources, . License: CC BY-SA 4.0, https://creativecommons.org/licenses/by-sa/4.0/legalcode.pl. Date of access: DD.MM.RRRR.
Similar resources
Robot IBIS - realizacja ruchu w trybie teleoperacji i semiautonomii
Piotr Bigaj, Maciej Trojnacki, Jakub Bartoszek, article, chapter, Wrocław University of Science and Technology, dziedzina nauk technicznych / automatyka i robotyka (2011)
Nowa forma podziału przestrzeni konfiguracyjnej przy planowaniu ruchu mobilnych robotów z ograniczeniami nieholonomicznymi
Leszek Podsędkowski, article, chapter, Wrocław University of Science and Technology, dziedzina nauk technicznych / automatyka i robotyka (2011)