This paper presents an approach to mobile robot path planning using case-based reasoning together with map-based path planning. The map-based path planner is used to seed the case-base with innovative solutions. The casebase stores the paths and the information about their traversability. While planning the route those paths are preferred that according to the former experience are least risky.

Multirobot path planning and task assignment are traditionally treated separately, however task assignment can greatly impact the difficulty of the path planning problem, and the ultimate quality of solution is dependent upon both. We introduce task reassignment, an approach to optimally solving the coupled task assignment and path planning problems. We show that task reassignment improves solu...

A new framework of a hierarchical vision-motion planning for a mobile robot under uncertainty is proposed. An optimal plan is generated by twolevel planning: global route selection and local path planning. In global route selection, a sequence of observation points to acquire sufficient information to reach a destination is determined. Both the cost and the uncertainty of vision are considered ...

Automated planning and scheduling, including automated path planning, has been integrated with an Internet-based distributed operations system for planetary rover operations. The resulting prototype system enables faster generation of valid rover command sequences by a distributed planetary rover operations team. The Web Interface for Telescience (WITS) provides Internet-based distributed colla...

this paper develops an automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering angle for the output. in this way some feasible reference trajectory path have been introduced according to geometric and kinematic constraints and nonholonomic constraints to simulate motion path of car. also a novel method is used for parking space detectio...

This paper proposes a genetic algorithm (GA) for path planning of an autonomous mobile robot in the 3-D space which is modeled with a grid structure. We present a GA for 2-D path planning and then generalize it to 3-D path planning. Some simulation results are also presented. The GA has two unique features. First, the dimension has only small e ect on time and space requirements. Second, it is ...

This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperative maneuvers defined in the European project AutoNet2030. We use a path-velocity decomposition approach to separate the motion planning problem into a path planning problem and a velocity planning problem. The path planner first generates a collision-free piecewise l...

This paper addresses adaptive, on-line path planning of an autonomous underwater vehicle and presents a GA-based method for it. It is an important module of SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions) which is being developed at the University of Hawaii and will be capable of exploring the ocean at up to 6,000 m depth. In SAUVIM, a genetic algorithm (GA) is employed in...

Web service paths can accomplish customer requirements. During the execution of a web service path, violations of service level agreements (SLAs) will cause the path to be re-planed (healed). Existing re-planning techniques generally suffer from shortcomings of ignoring the effect of requirement change. This paper proposes a two-leveled path re-planning technique (TLPRP), which offers the follo...

Based on environmental awareness and effective path planning algorithm, effective robot path planning can be achieved. In this paper, the Kinect sensor, the latest vision sensing technology, is used to perceive the obstacles and terrain information in dynamic environment in real-time, which enables robots to realize effective path planning tasks in complex dynamic environment. Using the real-im...